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CSC477 Introduction to Mobile Robotics
Task:
The task comprises a programming task and a short report Programming Task You need to determine a way of navigating the robot around the maze included in the downloaded webots project to build up a map.
The robot should start in the top left of the arena – for example near pose ??2.1, 2.1, 0?
And finish in the top right corner of the arena – for example near pose ?2.1, 2.1, 0? .
The look of the final map will depend on the approach taken to navigate around the arena, as well as the number of times the walls are observed, as well as the relative orientation of the robot and the walls (remember the issues to do with specular reflection!).
Possible approaches include (but are not limited to): Wall following Following a set of pre defined way points Braitenberg Controllers PID Controllers Dead Reckoning Random Movement Marks will follow the rubric, and will be based on how successful the navigation strategy is (i.e. can it move around the arena without becoming stuck or colliding with the walls).
It is also permissible to visit different parts of the map multiple times.
There is no order in which you should visit different parts of the map; the only requirement is that you end your tour near the top right corner of the map (i.e. near or at ?2.1, 2.1, 0? – for example see the images below).
All of the walls should be observed such that they are represented with a darker grey or black cells, though it is not necessary for them all to be perfectly represented (some walls may appear thicker than others, or cells may not accurately reflect occupancy, with the occasional occupied cell missing). Likewise, it is not necessary to recognise and map all of the boundary walls.
It is possible that some of the un-occupied areas may be represented by light cells rather than white cells; this implies a low but not zero probability of being occupied. Please contact me if you are unsure of these details. see more in attached file
CSC477 Introduction to Mobile Robotics
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