Fig. 1. An example of the actual starting point.
Fig. 2. An example of one of actual complex formations.
The first N successful maps that at least show the drop point and a part of the outside perimeter formations will receive 20 points of extra credit. The results will be announced as soon as the fifth map is received.
The best map even if it is somewhat late will receive 20 points of extra credit. The results will be announced by the third test.
For this task use the MobileSim Pioneer 3DX simulator on gdansk.bradley.edu at the default port. The simulator is accessible from on campus or via VPN from off campus. Run your mapping program or the random movement mapping program to get the idea of the environment. Then modify your program to map the provided environment.
Note that simple wall following will result in going into circles around one of the inner structures of the environment as it can be expected after inspecting the figures shown below that depict the starting area of the mobile platform. The environment has a few cycles and a few less accessible side openings. Each opening is at least three meters wide so there should be no challenge of narrow passage navigation. You may devise some kind of algorithm specific to this environment, and/or use some kind of mobile platform control enhanced by manual steering combined with automatic obstacle avoidance.
You may develop an autonomous program, or use some kind of keyboard control, or use a joystick. You can print sensor readings on screen or/and inspect partially developed map saved to the hard drive. Joysticks are available in Jobst 243 computer lab. Example for interfacing a joystick on Windows is provided in the list of examples.
Beware of several robots operating at the same time. Plan your work so that you would not have to do it at the last minute and face additional moving obstacles created by other robots mapping at the same time. See the examples of maps with residual obstacle information created by another moving mobile platform (two right pictures below). Those obstacles are typically corrected during the next mapping of the same area.
|
Fig. 1. An example of the actual starting point. |
Fig. 2. An example of one of actual complex formations. |
Email the ZIPped map you have created to the instructor. Set e-mail subject to nav-hw6
