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Exercises: Navigate through a Simple Scenario in Simulation
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.
Basic Information
| Level | Beginner |
|---|---|
| Role | Component Supplier |
| 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 |
Introduction
You can use the worlds/environments described here with the Player/Stage simulator to test obstacle avoidance algorithms.
There are two approaches:
- Easy and simple: Follow tutorial Simple System: Laser Obstacle Avoid to get a running example. Modify the source code as described in this tutorial.
- Advanced / the preferred way: Create your own component as described in Developing Your First Software Component and implement your algorithm instead of copy-pasting the provided source code.
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.
Exercise 1: Racetrack
- Use the laser ranger to calculate robot movements for save navigation through a tube / racetrack
- Scenario: Racetrack World (1)
- Hint: try to drive in the middle of the tube bykeeping the same distance to the left and to the right wall.
Exercise 2: Corner World
- Use the laser ranger to calculate movements to the end of the simple labyrinth and to move back.
- Scenario: Corner World (world number 3)
Exercise 3: Wall following
- Use the laser ranger to calculate movements to follow the left / right wall
- Test your algorithm using both worlds' scenarios:
- Wallfollower World (world number 4)
- Wallfollower World 2 (world number 5)
Exercise 4: Approach cylinder
- Use the laser ranger to find the cylinder. The diameter of each cylinder is 15cm
- Calculate robot movements to navigate to the cylinder and stop in front of it
- Scenario: Cylinder World* (world number 2)
Hint: The laser scan points will make a depth jumpat the left and right edge of the cylinder.
- You can move the cylinder by dragging it with the mouse (left button)
- You can even move more cylinders inside the scenario
Further Information
This tutorial extends:
What do do next?
This tutorial is not part of a series.