Intelligent Mobile Robot

Task 1: Creating a 2D map if an unknown environment

The learning outcomes that are assessed by this coursework are:

  1. A critical awareness of current techniques used for mapping and localisation
  2. A comprehensive understanding of stochastic techniques for robot mapping and localisation.
  3. Demonstrate originality in the application of knowledge of robot mapping and localisation.

Resources:

For this assignment you will be using the PeopleBot robot (and MobileSim simulator) and the Aria C++ libraries. A program implementing a simple wandering behaviour has been created for you – use this as you starting point. You may only use the robots odometer and sonar sensors to construct the map. The robots laser range finder (SICK) and the Aria Navigation Libraries (SONARNL) should not be used. You should use the code in attached Zip (testProgram.zip) as the starting point for your coursework.

Assignment Specification:

You must write a program which creates a 2D map of the robots environment (a small room or arena). The map should take one of the following forms:

  • A set of 2D points (co-ordinates).
  • A set of line segments.
  • An occupancy grid. It must be possible to view the map in one or more of the following ways: · As a scatter plot (Matlab, excel or openoffice)
  • As an image (bmp, jpeg, png, ps, pdf)
  • As a real-time image in using an appropriate graphics library (DirectX, OpenGl, SFML, FLTK)

Your report should outline how your program constructs a map, giving all your working with diagrams and screenshots. You should also specify any additional external libraries you have used. It should include the following sections:

1) Introduction

2) Map Construction Technique

3) Software Implementation (basic overview – not a code listing)

4) Testing and Results

5) Conclusions

6) Bibliography

Task 2: Localisation in a Known Environment

The learning outcomes that are assessed by this coursework are:

  1. A critical awareness of current techniques used for mapping and localisation
  2. A comprehensive understanding of stochastic techniques for robot mapping and localisation.
  3. Demonstrate originality in the application of knowledge of robot mapping and localisation.

Resources:

For this assignment you will be using the PeopleBot robot (and MobileSim simulator) and the Aria C++ libraries. You should also use your submission for the previous assignment as a starting point for this assignment.

Assignment Specification:

You must write a program which allows the robot to localise (identify the position of) itself within a 2D map which the robot has been given a priori. The localised position should include:

  • X position in units of your choice
  • Y position in units of your choice
  • Heading (theta) in degrees

The robot must report its position at least once a second in one or more of the following ways:

  • Output to the console
  • Map centric graphical view
  • Robot centric graphical view

Your report should outline how your program identifies the position of the robot, giving all your working with appropriate diagrams. It should include the following sections:

1) Introduction

2) Localisation technique

3) Software Implementation (basic overview with snippets – not a code listing)

4) Testing and Results

5) Conclusions

6) Bibliography

Kindly see the start here doc file it has all software installation instruction and lecture slides.

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