Spring2009RobotLabAssignment2

Assignment 2: Obstacle Course (Updated)

In this assignment, due by the start of class Week 5, you will program a robot to navigate an obstacle course (configuration files provided Media:obstacle-config.zip). 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.

A server is being set up to allow you to test your robot client in the full obstacle course remotely. Server information will be sent to the mailing list.

Configuration Files

Updated: Configuration files are provided: Media:obstacle-config.zip.

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 player obstacles.cfg

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 all polygons are 3, 4 and 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

• Email your robot client code to both TAs with a README file containing any necessary build instructions.
  • The file should be called YourNameHW2.{zip,tar.gz,tar.bz2}.
  • Please use the subject line "Robot Lab Homework 2."
• 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

Expected Results

Note: We do not expect you to write code that generates these types of graphics. These graphics show what you *might* see if you were to draw out your calculations on this example obstacle course.

Map visibility graph using the provided shape data.

Point robot maze completion.

2 DOF robot maze completion.

3 DOF robot maze completion.