Revision as of 17:08, 13 April 2011

Contents

Assignment 2: Obstacle Course

In this assignment, you will program a robot
to navigate an obstacle course (configuration files provided here). Your robot must plan and follow path from the top left corner of the space to the bottom right using information about obstacles on the map. You can use the PositionProxy class to determine when your robot has reached the opposite corner. You will be provided with configuration files and the map. However, the real map, against which your robot will be tested, will have a few additional obstacles that your robot must account for using its sensors. For parts 2 and 3, you will use different robots with more difficult shapes and orient them to pass through narrow areas. Configuration files for these robots are provided in the zip file as pioneer-2.inc and pioneer-3.inc. These files can be renamed to pioneer.inc to work with the existing configuration files.

One way to proceed is to first see if your robot can make it through the map when it does know all of the obstacles. Then, you could edit a2-shapes (the file with the shape descriptions), commenting out some of the shapes. Can it still make it through the map?

You may assume that each polygon is either 3, 4 or 6-sided. Vertices are wound counter-clockwise. The shapes are specified in world coordinates x:[-15, 15], y:[-15, 15]. The outer walls of the map are not included in this file, though you may have to take these into account.

What to Submit

A tarball containing:

Your robot client code

Video of your solution

A README file containing any necessary build instructions.

As with the last assignment, this assignment will take some time. Please start early. If something does not work properly or is incomplete, please say so in the README.