CSIP5202 AI for Mobile Robots Coursework | De Montfort University

The learning outcomes that are assessed by this coursework are:

1. A critical awareness of current techniques used for mapping and localisation
2. A comprehensive understanding of stochastic techniques for robot mapping and localisation.
3. Demonstrate originality in the application of knowledge of robot mapping and localisation.

Tasks to be undertaken: 

Resources: 

For this assignment you will be using the TurtleBot bot simulator and RoS python libraries or the PeopleBot robot (and MobileSim simulator) and the Aria C++ libraries. You will also use your knowledge acquired from the previous assignment. An initial code to start your project will be provided on Learning Zone.

Assignment Specification: 

You must write a program which allows the robot to localise (identify the position of) itself within a 2D map which the robot has been given prior. The localised position should include:

1. X position in units of your choice
2. Y position in units of your choice
3.  Heading (theta) in degrees

The robot must report its position at least once a second in one or more of the following ways:

1. Output to the console
2.  Map centric graphical view
3.  Robot centric graphical view

Your report should outline how your program identifies the position of the robot, giving all of your working with appropriate diagrams. It should include the following sections:

1.  Introduction
2. Localisation technique
3.  Software Implementation (basic overview with snippets – not a code listing)
4. Testing and Results
5.  Conclusions
6.  Bibliography