Mobile Robot Control 2023 Group 3: Difference between revisions
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The code for the A* algorithm is uploaded to the gitlab. | The code for the A* algorithm is uploaded to the gitlab. | ||
To optimize the A* algorithm, certain nodes could be discarded. These nodes have exactly 2 neighbors and thus are not an end to a path or a intersection of paths. Due to this, these nodes do not have any added information and thus can be discarded, resulting in nodes only on intersection and end of paths, leaving the straight path between them as one step.<br /> | To optimize the A* algorithm, certain nodes could be discarded. These nodes have exactly 2 neighbors on two consecutive sides and thus are not an end to a path, a corner or a intersection of paths. Due to this, these nodes do not have any added information and thus can be discarded, resulting in nodes only on intersection, corners and end of paths, leaving the straight path between them as one step.<br /><gallery widths="300" heights="300"> | ||
File:A star.png | |||
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Revision as of 11:49, 26 May 2023
Group members:
| Name | student ID |
|---|---|
| Sjoerd van der Velden | 1375229 |
| Noortje Hagelaars | 1367846 |
| Merlijn van Duijn | 1323385 |
Exercise 1 (Don't crash)
Watch the implementation video here: https://drive.google.com/file/d/1HEQ291tJWxiCRycf9JcPCIs-tHaA3roN/view?usp=share_link
Main idea: The robot drives forward until it detects an object within the specified range, then it stops. The range is declared as 45 degrees right and left from the center sight.
The code for the A* algorithm is uploaded to the gitlab.
To optimize the A* algorithm, certain nodes could be discarded. These nodes have exactly 2 neighbors on two consecutive sides and thus are not an end to a path, a corner or a intersection of paths. Due to this, these nodes do not have any added information and thus can be discarded, resulting in nodes only on intersection, corners and end of paths, leaving the straight path between them as one step.
Exercise 3 (Corridor)
Implementation video here: https://1drv.ms/v/s!Ah8TJsKPiHVQgdpdH5tZMWa6fCyjDA?e=7TtBUS
Main idea:
Exercise 4 (Odometry data)
- Keep track of our location:
- Observe the behaviour in simulation:
- Observe the behaviour in reality: