This is a supplement to the Laser Obstacle Avoid and First Software Component Tutorials. It describes a set of additional worlds/environments for the Player/Stage simulator to test obstacle avoidance algorithms.
|Assumptions||Having a component hull for obstacle avoidance.|
|System Requirements||Virtual Machine Image or SmartSoft system installed, see ready-to-go virtual machine|
|You will learn|| You will learn how to implement obstacle avoidance:
- How to navigate your robot through a simple scenario
- How to use the laser ranger
- How to command the robot to move with a translational / rotational velocity interface(v / omega-interface)
- How to detect and approach a cylinder
You can use the worlds/environments described here with the Player/Stage simulator to test obstacle avoidance algorithms.
There are two approaches:
Implement your obstacle avoidance such that the robot wanders around in the following environments without any collisions. The following exercises are based on individual worlds that you load into the simulator the ground plane of the environments corresponds to the ulm service robotics lab 5.29 x 4.90m grid in the simulator: 1m
Usage hint: when the Player/Stage Simulator launches, you are asked to enter the corresponding world/environment number as illustrated in the screenshot below.
Hint: The laser scan points will make a depth jumpat the left and right edge of the cylinder.
This tutorial is not part of a series.