T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Mobile Robot
Take Home Exam
Jeong-Yean Yang
24 11 2
년
월
6
일
1
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Take Home Exam.
•
Due To 10/29
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Submission by E-mail, muhw03@gmail.com
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Submission by E-mail, muhw03@gmail.com
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Submission by E-mail, muhw03@gmail.com
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Power point report with source code, Video or Cap-
tured Image.
2
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Prob. 1. Your BEST Strategy
ex/robot/crobot
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Use crobot~crobot4
3
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
ex/robot/crobot4
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Center : us[0]
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Right : us[2]
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90 degree to left is the
strategy here.
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Find your best solution
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At least, 2 minute results.
4
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
ex/robot/crobot5
Increasing Collision Margin
5
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Col ision=5 makes a robot
NOT to be stuck on wal s.
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But, cleaning performance
becomes bad.
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
ex/robot/crobot6
Modifying 90 degree rotation
6
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Crobot5 waits until a robot rotates 90 degree.
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Crobot6 does not wait. Without obstacles, a robot starts to
go straight.
crobot5
crobot6
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Prob. 2. Roomba-like Strategy
Tuning of Left backward(ex/robot/crobot7)
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|WL|>|WR| for left
backward turn
7
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Result of crobot7
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|WL|>|WR| for left
backward turn
8
Backward
moves
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Prob. 2. Modify ex/robot/crobot8
Show your result
9
0
0
0
( ,1)
(
,1)
d
L
L
R
R
e q
q
w
Ke
w
w
N
w
w
N
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
In my case, Two types of Turning Strategy
10
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If Center has obstacles,
Do Turing 90 degree.
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If Right has obstacles,
Do Turing 45 degree.
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This strategy makes a robot to do smooth turning.
T&C LAB-AI
Dept. of Intelligent Robot Eng. MU
Robotics
Prob. 3. Mission: Basic Wall Following
However, crobot8 does NOT fol ow wal s.
Let’s go back to the first definition
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Forget complex theory
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With a slight modification,
wal fol owing can be im-
plemented.
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In my case, one digit was
changed… ^^
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Hint : Roomba is using
Spiral motion + Left
backward turn
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