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Exercise 2

CS 372 (Artificial Intelligence) Fall 2004 Robot Lab: Exercise 2

Stimulus response Agents: RangerBot: Improving Bump-N-Grind behavior with Range Sensors

In this exercise we will improve on the behavior of the Bump-N-Grind robot by using a robot's range sensors. Range sensors help you detect distance to objects/obstacles. Typically each robot is equipped with a bunch of range sensors around its body. Range sensing can be done using IR (infrared) sensors, sonars, or lasers. Study the morphology of Pioneer and Khepera robots and familiarize yourself with their range sensors (especially the unit of measurments used). Sensing distances to objects before a robot bumps into them can greatly improve its navigational behavior.

You will implement this behavior in Pyro using the Stage Simulator using the tutorial.world with a simulated Pioneer robot (connect through Player6665). The following simple algorithm is suggested: 

   if obstacle approaching on the left, turn right
   else if obstacle approaching on the right, turn left
   else if obstacle approaching on the front, turn left or right
   else go forward

Start by implemnting the above algorithm and observe the behavior of the robot for several different runs. Then answer the following questions:

  1. How would you characterize the robot's behavior?

  2. Does it seem robust? Try the behaviors by placing the robot in different parts of the environment.

  3. How well does it deal with corners? Try sending the robot diagonally into a corner a few times. Was the robot able to negotiate itself out of the corner? If not, think about how you could improve the brain program and implement it. Describe your solution.

  4. Show this and the Bump-N-Grind behaviors to some of your friends (or others in the lab who are not in the class). Ask them to describe the behaviors and how they compare. Does it seem to them that one robot is "more intelligent" than the other? (do not tell them what your algorithm or task is). Write down their description(s).

Hand in a written report with your answers to the questions above. Also, attach a printout of your brain program and a short discussion of your own on your overall experience.