CE315 Mobile Robotics 1 School of Computer Science & Electronic Engineering Module CE315 – Mobile Robotics Assignments, Spring 2020 1. Objective The objectives of this assignment are: 1) To describe a variety of autonomous mobile robots in real-world applications you have learnt in this course. 2) To apply the knowledge gained from the course to design a controller for the specified task using both simulator and real mobile robots. 3) To produce two reports on your design, implementation and experimental results, and showing the functioning of the controller in a lab demonstration. 2. The Challenge Task The robot will operate in a rectangular area as shown in the following figure, in which there is a yellow goal, an orange ball and four blue pillars. Two types of sensors (Laser and Odometry) are available for this implementation. ❑ The robot has to pass the first gap between two pillars, and then pass the second gap, towards an orange charging station, as indicated by the dashed lines in the figure. The trajectory travelled by the robot may be a continuous curvature in any shape. ❑ You should collect sensor data (laser, odometry, speeds), and save them into files for plotting using Excel. ❑ The robot has to approach the charging station and stop there as shown in the following figure. (0, 0) (0.3, 0.3) Robot T1(0.8, 2.25 ) (0, 2.5) (2.5, 2.5)(2.5, 0) T2(0.8, 1.5 ) T3(1.7, 1.0 ) T4(2.2, 1.3 ) Charger (0.25, 0.25 ) The 1st gap The 2nd gap Trajectory Pillar radius: 0.125m Map unit: m x y World coordinate 0 The technical details (collecting sensor data and the commands used to control the two wheel motors) will be explained during the lectures and labs sessions. CE315 Mobile Robotics 2 School of Computer Science & Electronic Engineering 3. Deadline and submission requirements Assignment 1 – Simulation: The task of Assignment 1 is to implement your controller in a simulated environment by using simulator. The deadline for the electric submission of your assignment 1 (report and your code) is 11:59:59 on Friday, Week 20 (14 February 2020). • The report should be about 2000 words long (about 8 pages), plus your code, which should be written in such a way that it is clear, concise, and easy to read. • Write your name and the code of the course module clearly on the cover page of your assignment, including a TOC (Table of Contents) for readers to navigate your report easily. • Software design: you should use a simple flow chart and explain how it works (1 or 2 pages). • Simulation testing: you should test your code in simulator and collect odometry, speed, laser and sonar data. • Then, you should use MS Excel to: (1). Plot the trajectory (odometry readings) in the global XOY frame. Explain how you obtained (about 1 page). (2). Plot the speed graph of the robot in the Speed-time frame. Explain the data quality briefly (about 1 page). (3). Plot the environment map using the laser readings you collected. Explain the map quality briefly (1 page). • Include the code of your program at the end of the report (no more than 5 pages). Assignment 2 – Real robot: The task of Assignment 2 is to implement your controller in a real environment using a real mobile robot. The deadline for the electric submission of your assignment 2 (report and your code) is 11:59:59 on Friday Week 25 (20 March 2020). Note that your report should be about 2000 words long (about 8 pages), plus your code, which should be written in such a way that it is clear, concise, and easy to read. More specifically, you should ➢ Write your name and the code of the course module clearly on the cover page of your assignment; include a TOC (Table of Contents) for readers to navigate your report easily. ➢ Introduction: you should describe or list a variety of autonomous mobile robots in real-world applications you have learnt in this course (1 or 2 pages). ➢ Software design: you should use a simple flow chart and explain how it works (1 or 2 pages). ➢ Real robot testing: test your code and collect odometry, speed, and laser data. Then, you should use MS Excel to plot the trajectory, speed and laser data (3 or 4 pages). ➢ Program list: you should include the code for the implementation of your controller and make sure it is clearly presented (no more than 6 pages). You are expected to give a demonstration in the Robot Arena (1N1.2.1) on 20 March 2020, starting from 13:00. The demonstration for each student will last for about 6 minutes. During your demonstration, you should show the performance of your code on the real robot and answer some questions about the main aspects of your work. 4. Assessment criteria The two assignments are accounted for 40% of total module credit, and each 20%. The mark will be decided on the basis of the following criteria: • The understanding of the course and the application to the implemented algorithm (25%). • The originality of methods and ideas used in solving the problem (20%). • The performance of your code in simulation & real robot, such as the time to complete the task and the robot trajectory smoothness (35%). • The quality of the write up of the assignments (20%). 5. Note • You should work independently. • Late penalty is zero mark unless special circumstances are approved.
