Out: Wednesday, November 13
Due: Wednesday, November 20
Your job is to implement and test a boundary following behavior. A boundary follower tries to parallel the wall or other nearby object, while moving forward. You may use sonar, vision, or both for this behavior. As before, you should try to optimize you system for the following properties, in decreasing order of importance:
Now write a program that reliably gets from the classroom to the opposite end of the building. Your program may take any path you like, but it should go all the way to the end of the little vestigial corridor at the other end of the building and stop. Note that you may not modify the environment without explicit permission from Ian or Aaron. Modifying the environment without explicit permission will be treated as a case of cheating and referred to the Dean.
You may use any of the behaviors you've developed for this class, any of the other groups' behaviors that you've reviewed, as well as completely new code. You may also want to use the following from the GRL library:
The assignment is due Wednesday November 20 at 2pm. We will have demos in class and will use the same robots and demo slots as for assignment 2. Each group will get five minutes to download and five minutes to run. It is critically important that you get your code loaded and running within your five minutes. If you are not ready to run, we will have to skip your demo and schedule a make-up.
You should prepare a brief (1-3 minute) explanation of how your system works, which one of you should give during the demo.
You will be graded based on speed and the number of Bad Things that happen during your demo. At the end of the five minute demo period, you will be awarded points based on how far through the building you got.
- Getting to the end of the building will be worth 8 points, getting halfway will be worth 4 points, etc.
- Stopping at the end is worth 2 points.
- Bonus points will be awarded for finishing before the five minutes are up.
- Groups may also start the course part-way through the building, at the cost of a penalty.
Negative points will be awarded for Bad Things. As before, Bad Things are:
- Collisions (-3 points)
- Sudden jerks in the robot's behavior (-1 point)
- Getting caught in a local minimum for more than five seconds (-1 point)
- Anything else that seems potentially dangerous to Ian and/or Aaron
In addition, we will allow the class to award 0-5 points each for subjective speed, subjective smoothness, and cool factor. Finally, Ian and Aaron will assign 0-10 points based on overall quality of the robot's behavior.