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Project 2

Project 2

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Published by Ashish Lal

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Published by: Ashish Lal on Jul 19, 2011
Copyright:Attribution Non-commercial

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10/26/2013

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Ashish Lal
Project 2
MTRN3100
Ashish Lal9/16/2010
 
Ashish Lal
Introduction
Creating a robot does not just involve with design of the physical components of thecircuits and motor to be used, it also needs a software which will help the robot to do certaintask. A very important aspect of this software design is implementing the map of thesurrounding terrain. Without a map a robot is limited to be moving around. This reportfocuses on the design of a map, defined by the data read through the sensor LMS200 laser.Question 1 required the programmer to create a 2D map (OG grid) based on the datareceived from a standstill LMS200 laser in real time processing and display the obstacles andsafe and unsafe area on the map for the robotQuestion 2 required the programmer to use the 3D images produced in project 1 todetermine triangular flat patches defined by the 3 neighbouring points. These surfaces werethen classified as:a) Almost horizontal (~180 degrees)b) A valid ramp (< 15 degrees)c) Obstacles (> 15 degrees)Question 3 required the programmer to display the information of the type of terrain such asif it was a ramp on the occupancy grid respective of the coordinates.

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