Homework 6 - Localizing, Mapping, Path Planning, and Navigating
Due at 11:00 pm on Tuesday 08 March 2016
NOTE: This assignment, like others in this class, is due at the
beginning of the class period. This means that if you are
even a minute late, you lose 20%. If you are worried about
potentially being late, turn in your homework ahead of time.
Do this by submitting them to me during office hours or by sliding it
under my office door. Do not send assignments to me through email or
leave them in my departmental mail box.
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.
The assignment.
Complete the following exercises:
- Topological localization, mapping, path planning, and
navigation.
- 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 1.
- 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.
- 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.
- 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.
- Metric localization, mapping, path planning, and navigation.
- 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.
- 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.
- 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.
- 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.
What to turn in.
Turn in via D2L an electronic copy of this assignment.