Fall2007BioInspiredRobotDesignAssignment3 - Revision history

Pwt23 at 20:35, 9 November 2007

2007-11-09T20:35:20Z

Dnguyen: /* Deliverables */

2007-11-05T19:49:12Z

Deliverables

Dnguyen: /* Deliverables */

2007-11-02T18:26:42Z

Deliverables

Dnguyen: /* Description */

2007-11-02T18:25:23Z

Description

Dnguyen: /* Deliverables */

2007-11-02T18:24:58Z

Deliverables

Dnguyen: /* Description */

2007-11-02T17:06:11Z

Description

Pwt23 at 16:28, 1 November 2007

2007-11-01T16:28:47Z

Pwt23 at 19:44, 31 October 2007

2007-10-31T19:44:03Z

Pwt23 at 19:38, 31 October 2007

2007-10-31T19:38:59Z

Pwt23 at 19:28, 31 October 2007

2007-10-31T19:28:33Z

@@ Line 6: / Line 6: @@
 ==== Updates ====
+* 2007-11-09: Here is the original map before it was scaled up [[Image:InitialMap.txt]]
 *rows and columns were written backwards, the first number is columns, the second number is rows
 *All parts of the assignment should be done in your code, your code can be whatever language you like
@@ Line 84: / Line 84: @@
 ==== Notes ====
+* The initial map (not expanded) can be found here: [[Image:InitialMap.txt]]
 * This assignment should be included all in one program (ie your program should calculate a path, perform corrections on the path, and then move the robot without user assistance between stages).

@@ Line 54: / Line 54: @@
 You will be given the <!--[[Media:A3_path_input.txt ]]--> [[Image:Hallway path input.txt]] file (and change the name to path_input.txt), and your code should execute on that input file, producing the two output files.
-'''NOTE''' Each character in the input file represents a 6x6 inch square, so a 4 character square represents 1 tile in the floor.
+'''NOTE''' Each character in the input file represents a 3x3 inch square, so a 16 character square represents 1 tile in the floor.
 You should turn in:

← Older revision		Revision as of 18:26, 2 November 2007
Line 53:		Line 53:

	You will be given the <!--[[Media:A3_path_input.txt ]]--> [[Image:Hallway path input.txt]] file (and change the name to path_input.txt), and your code should execute on that input file, producing the two output files.		You will be given the <!--[[Media:A3_path_input.txt ]]--> [[Image:Hallway path input.txt]] file (and change the name to path_input.txt), and your code should execute on that input file, producing the two output files.
		+
		+	'''NOTE''' Each character in the input file represents a 6x6 inch square, so a 4 character square represents 1 tile in the floor.

	You should turn in:		You should turn in:

@@ Line 76: / Line 76: @@
 *Perform path planning techniques from section A onto the provided text document of the hallway (below). Each character represents a forth of a foot.
 *Take in account the diameter of the robot in the path planning. The path planning algorithms in part 1 may return paths that a point robot may travers, but not a real robot. For example, some paths might bring your robot through a 1 foot passage, but your robot's diameter is more than 1 foot. You might want iterate through potential paths returned by your path planning algorithm and discard ones that would not work for a real robot.
 *Write code that would allow your robot to follow the calculated path. The robot will start facing any direction you please.
 ==== Notes ====

@@ Line 70: / Line 70: @@
 *README file, containing a short description of your additional algorithm and how it works, and an explanation of what additional files you are turning in-->
-<!-- === Assignment 3 Part B: Path Planning Execution===
+=== Assignment 3 Part B: Path Planning Execution===
 While you used simulated robots in the first part, you will use real robots in this section. In this section, you will be provided with an initial text file that represents part of the hallway on which you will perform path planning techniques you learned in the first section, but taking into account the challenges of executing the path with a real robot.
@@ Line 94: / Line 94: @@
 *wavefront_path_map.txt
 *wavefront_path_plan.txt

@@ Line 18: / Line 18: @@
 [[Media:Path input.txt]]
-Note that this is an example input, which will be followed in the assignment.  The actual input file will be provided below.
+'''Note''' that this is an example input, which will be followed in the assignment.  The actual input file will be provided below.
 The first line tells how many columns (9), the second line tells how many rows (8) the map has.  The starting point for the path will have an S, and the ending point will have an E.  All obstacles will have a 1, and open cells will have a 0.

← Older revision		Revision as of 16:28, 1 November 2007
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−	You will be given the <!--[[Media:A3_path_input.txt ]]--> [[~~Media~~:~~hallway_path_input~~.txt]] file (and change the name to path_input.txt), and your code should execute on that input file, producing the two output files.	+	You will be given the <!--[[Media:A3_path_input.txt ]]--> [[Image:Hallway path input.txt]] file (and change the name to path_input.txt), and your code should execute on that input file, producing the two output files.

	You should turn in:		You should turn in:

@@ Line 1: / Line 1: @@
 [[Category:Robot Lab (Spring 2007)]]
-=== Assignment 3 Part A: Path Planning Basics===
+=== Assignment 3: Path Planning Basics===
 We will not be using Roombas in this first part; rather, we will simulate a point robot. You will write a program to calculate a path through an occupancy map using the Wavefront algorithm, a breadth first search.  Once the path has been planned, this turns into a dead reckoning problem, which we have already seen, and since we know how temperamental dead reckoning is, this will introduce a wrinkle.  We know with dead reckoning the path your robot takes is not exactly the path you specify, and over the course of the path your robot's error grows.  If your robot hits an obstacle, this will throw off the path that you had told your robot to execute and your robot may not finish the course.  Before creating the path, your program must first adapt the map so that your robot will not come close to any obstacle or any wall except for the start and end positions.  Then you should calculate the possible paths in the map using the Wavefront algorithm, and finally calculate a best path for your robot given the Wavefront map.

@@ Line 1: / Line 1: @@
 [[Category:Robot Lab (Spring 2007)]]
-=== Assignment 3: Path Planning ===
+We will not be using Roombas in this first part; rather, we will simulate a point robot. You will write a program to calculate a path through an occupancy map using the Wavefront algorithm, a breadth first search.  Once the path has been planned, this turns into a dead reckoning problem, which we have already seen, and since we know how temperamental dead reckoning is, this will introduce a wrinkle.  We know with dead reckoning the path your robot takes is not exactly the path you specify, and over the course of the path your robot's error grows.  If your robot hits an obstacle, this will throw off the path that you had told your robot to execute and your robot may not finish the course.  Before creating the path, your program must first adapt the map so that your robot will not come close to any obstacle or any wall except for the start and end positions.  Then you should calculate the possible paths in the map using the Wavefront algorithm, and finally calculate a best path for your robot given the Wavefront map.
-−
-−
-We will not be using Roombas in this assignment, rather we will simulate a point robot.  In this assignment you will write a program to calculate a path through an occupancy map using the Wavefront algorithm, a breadth first search.  Once the path has been planned, this turns into a dead reckoning problem, which we have already seen, and since we know how temperamental dead reckoning is, this will introduce a wrinkle.  We know with dead reckoning the path your robot takes is not exactly the path you specify, and over the course of the path your robot's error grows.  If your robot hits an obstacle, this will throw off the path that you had told your robot to execute and your robot may not finish the course.  Before creating the path, your program must first adapt the map so that your robot will not come close to any obstacle or any wall except for the start and end positions.  Then you should calculate the possible paths in the map using the Wavefront algorithm, and finally calculate a best path for your robot given the Wavefront map.
 ==== Updates ====
@@ Line 14: / Line 12: @@
 *For lettering your path, rather than A-Z,AA-AZ you can just start over at A again.
-==== Description of Assignment ====
+==== Description ====
 Your program should take in a text file called path_input.txt which will look like:
@@ Line 63: / Line 61: @@
-For gradudate students, you must implement the Wavefront algorithm in addition to one other path-planning algorithm that you find (other than a Random Walk).  For some examples, see chapter 2 of Steven LaValle's Planning Algorithms book at http://planning.cs.uiuc.edu/.  Please provide a short description of what other algorithm you choose and how it works.  Graduate students must then turn in:
+<!-- For gradudate students, you must implement the Wavefront algorithm in addition to one other path-planning algorithm that you find (other than a Random Walk).  For some examples, see chapter 2 of Steven LaValle's Planning Algorithms book at http://planning.cs.uiuc.edu/.  Please provide a short description of what other algorithm you choose and how it works.  Graduate students must then turn in:
 *your code
@@ Line 70: / Line 68: @@
 *the output file of your additional algorithm
 *any other support files for your additional algorithm
-*README file, containing a short description of your additional algorithm and how it works, and an explanation of what additional files you are turning in
+*README file, containing a short description of your additional algorithm and how it works, and an explanation of what additional files you are turning in-->