Projects

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

The projects for this course will introduce you to some of the practical aspects of robotics.

More specifically we will work through a graduated series of projects that use the Player/Stage suite, and sometimes we'll run these programs on real robots.

I'll provide computers with all the necessary software installed. If you want to set up your own machine (either to bring to class or to work on the projects at home), then here are some instructions.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project I

The first project is to write a controller for a Create, both the real robot and simulated as here:

The main part of the project will be to do a simple dead-reckoning navigation exercise, replicating Borenstein's classic experiment.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project II

The second project is mainly in simulation, getting acquainted with the Position2dProxy and the BumperProxy:

The project makes use of odometry and the robot bumper.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project III

The third project is about sensors, learning how to make use of data from a camera and then a laser scanner.

There are two simple navigtion tasks. First using a camera to navigate using colored beacons, and then using a laser to do corridor/wall following.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project IV

The fourth project begins to talk about very simple navigation. When we know where the robot is, we can start to build general algorithms that will move the robot to where we want to go.

In the project we first consider using "fake localization" in which the simulator tells the robot where it is, and move on to using a localization system that is based on sensor data.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project V

The fifth project continues the navigation theme, building on Project 4 to get the robot to move through a series of waypoints on its way to some goal location.

In the project we again use "fake localization" to allow us to concentrate on the robot following the plan.

[Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]

Project VI

The sixth project caps the navigation work by getting the robot to create a plan which it can then follow using the method developed in Project 5..

In the project we again use "fake localization" to allow us to concentrate on the robot following the plan.

Project 6 came with an extra credit assignment: [Project I] [Project II] [Project III] [Project IV] [Project V] [Project VI]