16-311 Homework 6

Learning Objectives

1. Recall important facets of search algorithms.
2. Practive graph search algorithms.
3. Complete a sample path-planning problem.

Background

When localizing, we use sensor information to supplement odometry predictions about where we have traveled. In combination with a known map, we can use these two predictors to make a probabilistic guess of where we are even if we don't know where we start. Here is a video using odometry information and lidar data to predict where the robot is in the world: LIDAR based localization indoors on a Wandboard with amcl .

Homework Requirements

The specifications for Homework 6 are presented in the following document.

Homework 6 Handout

Extensions