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Navigation
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Purpose
The following exercises will familiarize you with navigation. Refer to chapter 19 of "The Robotics Primer".
Overview
Navigation refers to the process of negotiating a way through an environment. While navigation can refer to any way a robot can move around, this section will mainly consist of the process of a mobile robot making its way to a goal. This section will describe how to construct a map of the environment, both a priori and dynamically. This section will also deal with the distinctions between topological maps and occupancy-grid maps. Path-planning though mazes and in various environments will also be explored.
Hardware
| Exercise | Track 1 | Track 2 | Misc |
|---|---|---|---|
| Exercise 1 | No | Yes | N/A |
| Exercise 2 | No | Yes | N/A |
| Exercise 3 | No | Yes | N/A |
| Exercise 4 | Yes | Yes | N/A |
Exercise 1: Maze Planning in Map
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The exercises for navigation begins with path planning. Using a known occupancy grid, plan a path through a maze. When the path has been planned, execute that plan. |
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Exercise 2: Topological Map Path Planning
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The first exercise in this section involved planning a path using an occupancy grid. This section will deal with planning a path through a topological map. Using a known map, plan directions through the map. Then write a program to execute those directions. |
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Exercise 3: Building a map of a Maze
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Navigation is not only about planning and executing paths. It is also about generating models of the world. In this exercise we will learn about making maps of the environment. We will learn about making both occupancy and topological maps. Then you will use the programs from exercises 1 and 2 to make and execute plans. |
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Exercise 4: Coverage
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Moving away from mazes and maps, we will examine a naviagtion task that does not use map-making. In this exercise, you will learn how to plan and execute paths for room coverage. This is an application that can be used for automatic vacuum cleaners. |
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