1. Lab 6: Sensor Based Planning Lab TAs: Ben Morse Sarun Savetsila (Pong)

2. Mapping 8 16 (1,1) (8,16)

3. Mapping 8 16 (1,1) (8,16)

4. Mapping 8 16 (1,1) (8,16) (2,9) (6,14)

5. Mapping 8 16 (1,1) (8,16) (2,9) (6,14)

6. Mapping 8 16 (1,1) (8,16) (2,9) (6,14)

7. Mapping Mapping (50 points) [2 tries]: – Robot seems to mark some blocks and move correctly - 20 points – Robot executes motion correctly and marks less than 5 blocks wrong - 10 points – Robot marks less than 2 blocks wrong - 10 points – All blocks correctly marked - 10 points

8. Planning 8 16 (2,2) (7,15)

9. Planning Planning (50 points) [2 tries]: – Robot seems to sense, plan and act - 10 points – Robot hits an obstacle after traveling between 5 to 10 unique blocks - 20 points – Robot hits an obstacle after traveling between 10 to 20 unique blocks - 10 points – Robot stops within two blocks of the goal - 5 points – Robot takes the hard path – 5 points

10. Tips not necessary to use dead reckoning mark the boundary of the map as an obstacle When panning make sure to stop and wait for a few milliseconds before polling the sensor. Take multiple range readings and average them for better results. A good operating range for the LEGO ultrasound sensor is 2 - 20 inches. If two or more robots are close to each other, sensor readings may be spurious. Sample starter code for visual display of an 8 x 16 2D array.