Lab 6: Sensor Based Planning

Lab TAs:Ben Morse

Sarun Savetsila (Pong)

Mapping

8

16

(1,1)

(8,16)

Mapping

8

16

(1,1)

(8,16)

Mapping

8

16

(1,1)

(8,16)

(2,9)

(6,14)

Mapping

8

16

(1,1)

(8,16)

(2,9)

(6,14)

Mapping

8

16

(1,1)

(8,16)

(2,9)

(6,14)

Mapping

• Mapping (50 points) [2 tries]:– Robot seems to mark some blocks and move

correctly - 20 points– Robot executes motion correctly and marks less

than 5 blocks wrong - 10 points– Robot marks less than 2 blocks wrong - 10 points– All blocks correctly marked - 10 points

Planning

8

16

(2,2)

(7,15)

Planning

• Planning (50 points) [2 tries]:– Robot seems to sense, plan and act - 10 points– Robot hits an obstacle after traveling between 5 to

10 unique blocks - 20 points– Robot hits an obstacle after traveling between 10

to 20 unique blocks - 10 points– Robot stops within two blocks of the goal - 5

points– Robot takes the hard path – 5 points

Tips

• not necessary to use dead reckoning • mark the boundary of the map as an obstacle• When panning make sure to stop and wait for a few

milliseconds before polling the sensor.• Take multiple range readings and average them for better

results.• A good operating range for the LEGO ultrasound sensor is 2 -

20 inches.• If two or more robots are close to each other, sensor readings

may be spurious.• Sample starter code for visual display of an 8 x 16 2D array.