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Unformatted text preview: CS221 Problem Set #1 Programming Assignment 1 CS 221, Autumn 2007 Problem Set #1 Programming Assignment Due: 11:59pm Tuesday, October 16 Programming part (35 points) In this programming assignment, we will be working with a simulated robotic arm in various workspaces. The goal of the arm will be to move to different configurations given the constraints in the workspace. You will implement several search algorithms and compare their performance. The robot and workspace To get started, you must first understand the environment in which your robotic arm will work. Your robotic arm is an n-jointed arm ( n may vary) anchored to a fixed location in a three- dimensional world. It must move from an initial configuration to a goal configuration without colliding with itself or any obstacles. For our n-jointed robot, the n-dimensional configuration space is very difficult to calculate. One method of working around this problem is using the probabilistic roadmap technique. 1 We start by generating m random points in the freespace. We then calculate which points can be connected in this freespace and create edges between them. Then, using one of several different search algorithms, we search for a path from the start node to the goal node as shown in the example below: Start Finish Note that the worlds we provide you with are just sample worlds and not the only worlds in which your robotic arm will exist. Your code should be general enough to work in any given world. Your robot will be provided with m random points in its configuration space. Based on these points, your robot must decide how to move between the different points so that it best reaches the goal. Remember that all these points are in the configuration space and not in the work space. Therefore, the shortest distance between two points in the configuration space simply means the path that causes the robotic arm to move its joints the least, not the path that will 1 Jean Claude Latombe http://robotics.stanford.edu/latombe/projects/#A CS221 Problem Set #1 Programming Assignment 2 cause the hand of the robot to move the shortest distance. Keep this in mind when you see the visualizations of the robot performing your searches....
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This note was uploaded on 11/30/2009 for the course CS 221 taught by Professor Koller,ng during the Winter '09 term at Stanford.
- Winter '09
- Artificial Intelligence