Homework 6 - Localizing, Mapping, Path Planning, and Navigating

As discussed in class, localizing, mapping, path planning, and navigating are some of the most important tasks that many mobile robots need to accomplish and there are two basic approach to these tasks: (1) topological (aka qualitative or route) and (2) metric (aka quantitative or layout). In this assignment, you will consider both topological and metric approaches in the context of the the mission and environment description from Homework 3.

Complete the following exercises:

1. Topological localization, mapping, path planning, and navigation.
   1. Draw a topological map of a portion of DEH and/or REPF. The map should include at least 10 nodes and 10 links. The nodes and links should be labeled in such a way that a person familiar with DEH and REPF can recognize them. At least one of the nodes should be one of the building highlights described in Homework 3.
   2. Add to your map two specific landmarks that could be used by a tour guide robot in DEH and REPF. For each landmark, explain whether that landmark is a natural landmark or an artificial landmark, explain whether it is an active landmark or a passive landmark, explain whether or not it is a gateway, describe a set of sensors that would work well to identify that landmark, and describe the region in which that landmark could be identified using those sensors.
   3. Select two of the links in your map. For each link, describe a local control strategy (LCS) that could be used to navigate from one of its nodes to the other. The LCSs for the two links must be different from one another. For each link, explain whether the same LCS could be used to navigate the link in the opposite direction.
   4. Describe an appropriate path planning algorithm to apply to the task of planning effective routes for touring DEH and REPF using a topological approach. Explain why this algorithm is appropriate for this task.
2. Metric localization, mapping, path planning, and navigation.
   1. Describe a metric map representation that would be appropriate for a tour guide robot of DEH and REPF. Explain why this map representation is appropriate for this task.
   2. Using the map representation you described, draw a (rough) metric map of the same portion of DEH and/or REPF for which you drew the topological map.
   3. Describe a localization method that would be appropriate for a tour guide robot using the metric map you drew. Explain why this localization method is appropriate for this task.
   4. Describe an appropriate path planning algorithm to apply to the task of planning effective routes for touring DEH and REPF using a metric approach. Explain why this algorithm is appropriate for this task.

Turn in via D2L an electronic copy of this assignment.