1. Lab 6: Sensor Based Planning Lab TA: Neil Abcouwer Sid Soundararajan

2. SENSE PLAN ACT

3. SENSE 8 16 (1,1) (8,16) Each square is 6in by 6in

4. SENSE 8 16 (1,1) (8,16)

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

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

7. SENSE 8 16 (1,1) (8,16) (2,9) (6,14)

8. SENSE 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

9. PLAN 8 16 (2,2) (7,15)

10. PLAN Planning (50 points) [2 tries]: – Robot seems to sense, plan and act - 10 points – Robot hits an obstacle after traveling at least 5 unique blocks - 20 points – Robot hits an obstacle after traveling at least 10 unique blocks - 10 points – Robot stops within two blocks of the goal - 5 points – Robot completes path in under 3 minutes - 5 points

11. 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 is provided.