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Lab 6: Sensor Based Planning

Lab 6: Sensor Based Planning. Lab TAs: Justin Moidel Ben Morse. Challenge Statement. Find a way around an unknown map from a known start position to a known end position without touching any obstacle or leaving the map. Mapping. Travel along the blue path Map obstacles in the grey area

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Lab 6: Sensor Based Planning

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  1. Lab 6: Sensor Based Planning Lab TAs: Justin Moidel Ben Morse

  2. Challenge Statement • Find a way around an unknown map from a known start position to a known end position without touching any obstacle or leaving the map.

  3. Mapping • Travel along the blue path • Map obstacles in the grey area • Stop when you reach the end of the path

  4. Planning • Red: Start Position • Green: Goal Position • White: Obstacles will not be placed here • Grey: Obstacles will be placed here • There will be one path with a one block radius around it free (95 point path) • 100 point path will only be 6” wide

  5. Grading • Mapping (50 points) [2 tries]: • Robot seems to mark some blocks and move correctly - 20 points • Robot executes motion correctlly but marks more than 2 but less than 5 blocks wrong - 10 points • 1 or 2 blocks wrongly marked / not marked - 20 points • All blocks correctlly marked - 30 points • Planning (50 points) [2 tries]: • Robot seems to sense, plan and act - 10 points • Robot hits an obstacle after travelling between 5 to 10 unique blocks - 20 points • Robot hits an obstacle after travelling between 10 to 20 unique blocks - 30 points • Robot stops within two blocks of the goal - 40 points

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