Transcript CS225B Robot Programming Laboratory

CS225B Robot Programming Laboratory
Email: [email protected], [email protected]
TA: Phil Fong [email protected]
Website: cs225b.stanford.edu
Mailing list: cs225B
Projects done on robots in Lab
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Lab itself in B30/32
Keys from Gates 176
Office hours: before class, evenings before projects due
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Class Composition
Target size is 25 students
Priority:
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CS grad
CS undergrad
Others
Groups of 2-3 people for projects
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Try to get at least one CS person / good programmer per group
Groups formed by next Tuesday
Choose a group name, email me and TA
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Course format
Lectures, alternating between theory and practice
Requirements:
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Linear algebra and trigonometry (2D transforms)
Probability theory helpful, but we will learn all we need
C++, Python, Java, etc. -- programming ability
Linux OS helpful
Texts
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Thrun, Burgard, Fox. Probabilistic Robotics.
http://www.probabilistic-robotics.org
LaValle. Planning Algorithms. Available online:
http://msl.cs.uiuc.edu/planning
Papers and handouts
Readings expected to be done by the day they are listed in the syllabus (20%
of the grade)
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Projects
3 Projects + 1 Final Project
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50% + 30% of grade
Projects due every 2.5 weeks
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Demonstration class: projects running on the robots
Laboratory in B30/32
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3 Linux desktop computers
3 Erratic robots, wireless access
Simulator
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Course Goals
Learn about the autonomous robotics field
Investigate the main methods needed to make robots move
intelligently
Hands-on projects to implement the methods
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Course Outline
Mobile Robot Motion and Architectures
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How do mobile robots move? How can we program them to perform tasks?
Player/Stage architecture
Localization
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Markov localization
Probabilistic representation of uncertain movement
Planning
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Metric and topological maps
Wavefront methods
Random tree methods
Final Project
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Dynamic sensing (vision or LRF)
Competitive environment
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Final Project
Task: Program the robot to play one-on-one robot soccer
System: AmigoBot with laptop, color camera, sonars
..\videos\auto-skate.avi
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Goal area
Goal area
Abilities:
1. Stay localized
2. Stay out of opponent’s goal
3. Locate the ball with laser
4. Movement to “kick” the ball
5. Movement to block the ball
6. Strategy