Presentation: PPT - PDF
Challenge Statement:
A team of two robots must enter an exchange zone, exchange a golf ball, and exit the environment.
Rules:
- Teams are comprised of one handyboard and one NXT group.
- One team member (Robot A) starts with a golf ball.
- The world has 4 entrances; each robot will start in a different randomly chosen entrance. The teams will be notified of the entrance they will be using right before the run.
- The robots must exchange the golf ball in the center "exchange area".
- Both robots must exit the environment through any entrance.
- Robot B must exit with the golf ball.
- The golf ball cannot touch the ground during any part of the run.
- The robots must complete the task autonomously.
- All runs will be timed from the time the robots start to the time the last robot leaves the environment.
The Environment & The Robot:
- The exchange area will have walls perpendicular to the border but not extending into the center area. These walls will be less than 1in wide and 2in tall.
- The exchange area will have a border marked by tape that will be visible to the robot's light sensors.
- The robot must be no larger than 8in x 8in x 8in.
Map:
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Blocks are 6 x 6 inches |
Tips:
- The NXT and the handyboard kits are equipped with infrared sensors that can detect the exchange area's tape.
- The handyboards can locate the NXT robots by applying some concepts from the Braitenberg lab.
- Path planning can be useful to enter and exit the environment.
- If path planning fails, wall following might be of use.
Evaluation:
Each robot receives an individual grade for entering and exiting the environment. Three
attempts will be allowed with a combined maximum of 10 minutes.
- Robot reaches the exchange area - 20 points
- Robots exchange the golf ball :
i) Failed exchange - 35 points
ii) Successful exchange - 70 points
- Robot exits the environment - 10 points
Competition:
The fastest group that completes the task wins the competition. The winners will receive 100% on the final exam.
Grading Sheet : Lab 10
Last Updated : 4/16/09 by Victor Marmol
(c) 1999-2009: Howie Choset, Carnegie Mellon |