Use the MobileSim Pioneer 3DX simulator with a new map provided below. The task is to reach a goal located within the map at coordinates that were announced in class and then adjust the final position using local sensor readings (docking). You will know your own location as reported by the robot - assume that the dead reckoning is correct, do not bump into any walls, do not make sharp turns at high speed etc. Avoid obstacles using wall following algorithm and leave the wall when crossing the imaginary line between the starting point and the goal in certain cases as described by the advanced Bug 2 algorithm. It is not an optimal algorithm but it does not require a map. You may run a few circles. Make sure that you do not detect the departure point too eary or miss it because of to small or to large radius that defines the most recent departure point. As a byproduct map the portion of map that you are traveling without making any extra effort to make the map more complete.
The 2011/2012 map is homework8.map. The goal is located in approximately at (x=-15000, y=0, Theta=0). Drive to the specified point and exit the simulation.
The 2010 map is homework8.map. The goal is located in approximately at (x=-20000, y=0, Theta=0). (Please check the map in the map editor for the docking station.) This point is inside area surrounded by obstacles from three sides. Drive to the point that is equally far away from the front, left and right and position the robot facing the front wall.
The 2009 map is homework8.map. The goal is located in approximately at (x=-18000, y=+1000, Theta=0). (Please check the map in the map editor for the docking station.) This point is inside area surrounded by obstacles from three sides. Drive to the point that is equally far away from the front, left and right and position the robot facing the front wall.
Remember to run the simulator in the mode so that you start the same way each time:
"C:\Program Files\MobileRobots\MobileSim\MobileSim.exe" --robot-factory p3dx --noninteractive --lite-graphics --map "homework8.map"
Email the trace of your robot captured by MobileSim (export as single JPG or PNG frame) along with the map made while traveling to the goal and send it to the instructor. Set e-mail subject to nav-hw8.