Spring2010RobotLabAssignment2 - Revision history

Urlass: /* Configuration Files */

2010-04-13T18:04:38Z

Configuration Files

Urlass: /* This is not yet the final version of the assignment. Read it at your own risk! */

2010-04-13T18:02:51Z

This is not yet the final version of the assignment. Read it at your own risk!

Urlass: /* Assignment 2: Obstacle Course */

2010-04-13T18:02:38Z

Assignment 2: Obstacle Course

Urlass: /* Configuration Files */

2010-04-13T17:57:58Z

Configuration Files

Urlass: /* Configuration Files */

2010-04-13T17:57:45Z

Configuration Files

Urlass: /* Expected Results */

2010-04-13T17:56:36Z

Expected Results

Urlass: /* Assignment 2: Obstacle Course */

2010-04-13T17:54:36Z

Assignment 2: Obstacle Course

Urlass at 02:37, 8 April 2010

2010-04-08T02:37:19Z

Urlass: Created page with 'Category:Robot Lab (Spring 2010) This is not yet the final version of the assignment. Read it at your own risk! ==Assignment 2: Obstacle Course == In this assignment, yo…'

2010-04-08T02:26:14Z

Created page with 'Category:Robot Lab (Spring 2010) This is not yet the final version of the assignment. Read it at your own risk! ==Assignment 2: Obstacle Course == In this assignment, yo…'

New page

[[Category:Robot Lab (Spring 2010)]]

This is not yet the final version of the assignment. Read it at your own risk!

==Assignment 2: Obstacle Course ==

In this assignment, you will program a robot
to navigate an obstacle course (configuration files provided '''PUT TARBALL HERE'''). Your robot must plan and follow path from the top left corner of the space to the bottom right using information about obstacles on the map. You can use the PositionProxy class to determine when your robot has reached the opposite corner. You will be provided with configuration files and the map. However, the real map, against which your robot will be tested, will have a few additional obstacles that your robot must account for using its sensors. For parts 2 and 3, you will use different robots with more difficult shapes and orient them to pass through narrow areas. Configuration files for these robots are provided in the zip file as pioneer-2.inc and pioneer-3.inc. These files can be renamed to pioneer.inc to work with the existing configuration files.

===Configuration Files===
Configuration files are provided: '''PUT TARBALL HERE'''.

As before, an optional skeleton program is provided for the client.

* Laser - This robot contains a 180 degree laser.
** You may start with obsbot.cpp as your client file.
** To run <code>player obstacles.cfg</code>

Obstacle data for the map is provided in the file ''a2-shapes.''

The format is as follows:

poly (x_1 y_1) ... (x_n y_n)
circ (x y) radius

You may assume that each polygon is either 3, 4 or 6-sided. Vertices are wound counter-clockwise. The shapes are specified in world coordinates x:[-15, 15], y:[-15, 15]. The outer walls of the map are not included in this file, though you may have to take these into account.

===Submission===
* Submit your robot client code along with a README file containing any necessary build instructions to Blackboard by the due date.
* If something does not work properly or is incomplete, please say so in the README.

===Grading===
* Part 1 (10 points)
** "Point robot" combines map information with sensor data to navigate to opposite corner.

* Part 2 (7 points)
** Oblong robot with 2 DOF searches configuration space to navigate through narrow areas of the map.

* Part 3 (7 points)
** Robot with 3 DOF searches configuration space to navigate through narrow areas of the map.

* Code is readable and documented: 4 points

'''Total: 28 points'''

===Map===
[[Image:Obstacles.png]]

===Expected Results===
[[Image:Robotlab2009-hw2-path.png]]

Map visibility graph using the provided shape data.

[[Image:Robotlab2009-hw2-point.png]]

Point robot maze completion.

[[Image:Robotlab2009-hw2-sofa-car.png]]

2 DOF robot maze completion.

[[Image:Robotlab2009-hw2-sofa-omni.png]]

3 DOF robot maze completion.

← Older revision		Revision as of 18:04, 13 April 2010
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	* Laser - This robot contains a 180 degree laser.		* Laser - This robot contains a 180 degree laser.
−	** You may start with obsbot.cpp as your client file.
	** To run <code>robot-player obstacles.cfg</code>		** To run <code>robot-player obstacles.cfg</code>

← Older revision		Revision as of 18:02, 13 April 2010
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	[[Category:Robot Lab (Spring 2010)]]		[[Category:Robot Lab (Spring 2010)]]
−
−	~~= '''This is not yet the final version of the assignment. Read it at your own risk!''' =~~
−

	==Assignment 2: Obstacle Course ==		==Assignment 2: Obstacle Course ==

← Older revision		Revision as of 17:56, 13 April 2010
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	===Expected Results===		===Expected Results===
		+
		+	'''NOTE:''' Your robot does not have to generate images like this (or any images, for that matter), these are just to give you an idea of how the robot should move, and how you should generate the paths.
		+
	[[Image:Robotlab2009-hw2-path.png]]		[[Image:Robotlab2009-hw2-path.png]]

@@ Line 7: / Line 7: @@
 In this assignment,  you will program a robot
-to navigate an obstacle course (configuration files provided '''PUT TARBALL HERE'''). Your robot must plan and follow path from the top left corner of the space to the bottom right using information about obstacles on the map.  You can use the PositionProxy class to determine when your robot has reached the opposite corner. You will be provided with configuration files and the map. However, the real map, against which your robot will be tested, will have a few additional obstacles that your robot must account for using its sensors. For parts 2 and 3, you will use different robots with more difficult shapes and orient them to pass through narrow areas. Configuration files for these robots are provided in the zip file as pioneer-2.inc and pioneer-3.inc. These files can be renamed to pioneer.inc to work with the existing configuration files.
+to navigate an obstacle course (configuration files provided [https://www.cs.drexel.edu/~urlass/asmt2-config.tar.gz here]). Your robot must plan and follow path from the top left corner of the space to the bottom right using information about obstacles on the map.  You can use the PositionProxy class to determine when your robot has reached the opposite corner. You will be provided with configuration files and the map. However, the real map, against which your robot will be tested, will have a few additional obstacles that your robot must account for using its sensors. For parts 2 and 3, you will use different robots with more difficult shapes and orient them to pass through narrow areas. Configuration files for these robots are provided in the zip file as pioneer-2.inc and pioneer-3.inc. These files can be renamed to pioneer.inc to work with the existing configuration files.
 One way to proceed is to first see if your robot can make it through the map when it does know all of the obstacles.  Then, you could edit a2-shapes (the file with the shape descriptions), commenting out some of the shapes.  Can it still make it through the map?
 ===Configuration Files===
-Configuration files are provided: '''PUT TARBALL HERE'''.
+Configuration files are provided: [https://www.cs.drexel.edu/~urlass/asmt2-config.tar.gz here].
 * Laser - This robot contains a 180 degree laser.

@@ Line 16: / Line 16: @@
 * Laser - This robot contains a 180 degree laser.
 ** You may start with obsbot.cpp as your client file.
-** To run <code>player obstacles.cfg</code>
+** To run <code>robot-player obstacles.cfg</code>
 Obstacle data for the map is provided in the file ''a2-shapes.''

@@ Line 8: / Line 8: @@
 In this assignment,  you will program a robot
 to navigate an obstacle course (configuration files provided '''PUT TARBALL HERE'''). Your robot must plan and follow path from the top left corner of the space to the bottom right using information about obstacles on the map.  You can use the PositionProxy class to determine when your robot has reached the opposite corner. You will be provided with configuration files and the map. However, the real map, against which your robot will be tested, will have a few additional obstacles that your robot must account for using its sensors. For parts 2 and 3, you will use different robots with more difficult shapes and orient them to pass through narrow areas. Configuration files for these robots are provided in the zip file as pioneer-2.inc and pioneer-3.inc. These files can be renamed to pioneer.inc to work with the existing configuration files.
 ===Configuration Files===
@@ Line 28: / Line 30: @@
 ===Submission===
-* Submit your robot client code along with a README file containing any necessary build instructions to Blackboard by the due date.
+* As with the last assignment, this assignment will take some time.  Please start early.
 * If something does not work properly or is incomplete, please say so in the README.

@@ Line 1: / Line 1: @@
 [[Category:Robot Lab (Spring 2010)]]
-This is not yet the final version of the assignment.  Read it at your own risk!
+= '''This is not yet the final version of the assignment.  Read it at your own risk!''' =
 ==Assignment 2: Obstacle Course ==