Assignment 10. PATH PLANNING (3)

Global (and local) navigation. Learn to use Wavefront path planner driver (with VFH+).

Before you can begin with this assignment, you must first complete Assignment 7.

Download file Assignment10.tgz from http://biorobotics.ttu.ee:60080/AdvancedRoboticsCourse/files/ and save it to /usr/local/share/gazebo/ for further unpacking:
Open new terminal window and enter:
cd /usr/local/share/gazebo/ && tar -zxvf Assignment10.tgz

Copy fine.pgm file to Assignment10 folder
Open new terminal window and enter: cp /usr/local/share/gazebo/AdvancedRobotics/Assignment07/fine.pgm /usr/local/share/gazebo/AdvancedRobotics/Assignment10/fine.pgm

Edit file playerD.cfg.init to change parameters for both VFH+ and Wavefront drivers:
Open new terminal window and enter: gedit /usr/local/share/gazebo/AdvancedRobotics/Assignment10/playerD.cfg.init
NB!: Make sure you uncommented exactly one "requires" row in "Wavefront" driver configuration.

Open GUI and start simulation:
Open new terminal window and enter:
cd /usr/local/share/gazebo/AdvancedRobotics/Assignment10/ && python SensorShowroom.py
Press "Run" to start simulation. 2 windows will appear: Gazebo and Playernav.

Activate Playernav window. You can read about this utility here:
http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__util__playernav.html
Use this utility to drive around, try different paths both with obstacles and without them, observe, how Wavefront plans its movement and VFH+ avoids collisions. Try Wavefront without VFH+ (make changes to playerD.cfg.init).
Describe and explain the difference in behaviour of the robot using (Wavefront+VFH)/(VFH alone)/(Wavefront alone).

To complete this assignment you must submit:

• A text with your explanations
• 2 log files of your test runs: (Wavefront+VFH)/(Wavefront alone)
• fine.pgm file
• A screenshot of the robot moving towards goal in Playernav window using Wavefront path planner

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