Write program which creates a 2D map of robots environment

Assignment Help MATLAB Programming

Reference no: EM132852275

IMAT5233 Intelligent Mobile Robotics - De Montfort University

Resources:
For this assignment you will be using the TurtleBot bot simulator and RoS python libraries orPeopleBot 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 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 (RVIZ, 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

Deliverables to be submitted for assessment:

A report of no more than 6 pages (not including figures or graphs) must be submitted through the Assignment 1 - Turnitin link under the Assessments tab on Blackboard.

Your software source code should be put in a zip file (please delete *.sdf and the debug folders) and submitted through the link on BlackBoard. This zip file must be less than 250 Mb.

You may also submit a video or no more than 2 minutes showing your robot's mapping behaviour but this is not compulsory.

Attachment:- Simulated environment.rar

Reference no: EM132852275

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