Description

— Course: Intelligent Robotics – Professor: Qi Hao
Coding Homeworks. Most of coding assignments will be done by Python(>=3.5) under a simple robotics simulator. You can follow the Coding instruction to use this simulator to complete the coding question1,2,3. Your final submission should be a compressed package with extension .zip, which includes your codes and explanations (you need to know how to write the manuscript with Markdown or LATEX, the scan version is also accepted). Your code should be run step-by-step without any error.
Real-time animation is also encouraged.
Note: The graphs as shown below are only simple demonstrations to help you understand. You can develop your own algorithms to achieve higher performance by your understanding.
Question1
Simulate the Astar algorithm depending on the given grid map. You can follow the Coding instruction to use the robotics simulator to complete this task.

Question2
Simulate a robot to achieve the collision avoidance motion with dynamic window approach(DWA). You can follow the Coding instruction to use the robotics simulator to complete this task.

Question3 – Extra Credit
Combine the astar and dwa to achieve the 5D planning under the given grid map. You can follow the Coding instruction to use the robotics simulator to complete this task.

Coding instruction
Install the intelligent robotics simulator
git clone -b edu https://github.com/hanruihua/intelligent-robot-simulator.git cd intelligent-robot-simulator pip install -e .
Note1: Please confirm that this repository is under the edu branch. You can use git branch to check current branch. If it is not under the edu branch, you can use git checkout edu to change current branch to edu branch.
Code for question1
There are four files for question1 in the source folder, question1.yaml, question1_run.py, Astar.py, and grid_graph.py.
question1.yaml is the configuration file for the simulator.
question1_run.py is the main program
Astar.py is the file to perform A star algorithm. You should complete this file for the coding task. grid_graph.py is the file that defines the class about the grid map for you to use.
You should complete the file Astar.py and run question1_run.py to show the simulation results. You can set the parameter animation = True in question1_run.py to generate the gif file.
Code for question2
There are four files for question1 in the source folder, question2.yaml, question2_run.py, dwa.py, and grid_graph.py.
question2.yaml is the configuration file for the simulator.
question2_run.py is the main program
dwa.py is the file to perform dwa algorithm. You should complete this file for the coding task.(the cost function) grid_graph.py is the file that defines the class about the grid map for you to use.
You should complete the functions in dwa.py and run question2_run.py to show the simulation results.
You can set the parameter animation = True in question2_run.py to generate the gif file.
Code for question3
There are two main files for question3 in the source folder, question3.yaml, question3_run.py. In question3, you should utilize the file and function defined and completed the in question1 and question2 to complete the 5D planning. You should complete the function astar_cost in the file dwa.py to complete this task.
Note: All the gain arguments should be tuned for your own task.