Creating a 2D Map of an Unknown Environment

Assignment Help Other Subject

Reference no: EM132610884

IMAT5233 Intelligent Mobile Robotics - De Montfort University

Assignment - Creating a 2D Map of an Unknown Environment

Learning Outcome 1: A critical awareness of current techniques used for mapping and localisation

Learning Outcome 2: A comprehensive understanding of stochastic techniques for robot mapping and localisation.

Learning Outcome 3: Demonstrate originality in the application of knowledge of robot mapping and localisation.

Tasks to be undertaken:

Resources:
For this assignment you will be using the PeopleBot robot (MobileSim simulator) and the Aria C++ libraries. A program implementing a simple wandering behaviour has been created for you - use this as your starting point. You may only use the robot's odometer and sonar sensors to construct the map. The robot's laser range finder (SICK) and the Aria Navigation Libraries (SONARNL) should not be used.

Assignment Specification:
You must write a program which creates a 2D map of the robot's environment (a small room or arena). The map should take one of the following forms:
• A set of 2D points (co-ordinates).
• A set of line segments.
• An occupancy grid.

It must be possible to view the map in one or more of the following ways:
• As a scatter plot (Matlab, excel or openoffice)
• As an image (bmp, jpeg, png, ps, pdf)
• As a real-time image using an appropriate graphics library (DirectX, OpenGL SFML, FLTK)

Your report should outline how your program constructs a map, giving all your working with diagrams and screenshots. You should also specify any additional external libraries you have used. It should include the following sections:
1) Introduction
2) Map Construction Technique
3) Software Implementation (basic overview - not a code listing)
4) Testing and Results
5) Conclusions
6) Bibliography

Attachment:- Intelligent Mobile Robotics.rar

Reference no: EM132610884

Questions Cloud

Provide narrative or story about the student : The statement should provide a narrative or story about the student, including details about when he/she came to the U.S. to study,

Arise toward passing or defeating of bill : Discuss the pros and cons which might arise toward the passing or defeating of this bill.

Safely share security data : Describe and discuss ways, if any, we can safely share security data. Are there precautions we can take, technical solutions we can use,

Calculate the profit and loss of the futures position : Calculate the profit and loss of the futures position. Did the portfolio behave as the beta suggested it would? Explain your answer using calculations

Creating a 2D Map of an Unknown Environment : Critical awareness of current techniques used for mapping and localisation - Demonstrate originality in the application of knowledge of robot mapping

Define at least three cloud deployment models : Identify and define at least three Cloud Deployment Models. What are their characteristics? What are the pros and cons?

Compute the market price : January 1, 2012 Xray Corp is issuing 250000 of 7% 4-year bonds with semiannual interest payments. Compute the market price

Resistance to change is normal everyday : Resistance to change is a normal everyday aspect in the workplace.

How much do they receive when the capacity is sold : The Digby Company will sell 100 units (x1000) of capacity from their Dino product line. How much do they receive when the capacity is sold

User Account

All Pages