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F20/21RO Intelligent Robotics

Question

Answered

Task

Overview

This assessment aims to increase your understanding and use of robot simulators and software tools to support the creation of intelligent controllers for robots using advanced bio-inspired techniques, which are covered in the course. It involves using a well known robot simulator, creating specific environment configurations and applying bio-inspired algorithms to create intelligent controllers for robots, analysing the resultant robot behaviours and drawing conclusions from it.

Detailed Description

1: Add an additional obstacle avoidance behavior layer to your robot from Lab 1 using the BBR approach.

The robot should follow the line and avoid obstacles. You will have to insert obstacles in the robot arena to test if your controller is working. You will use the behaviour-based controller already implemented during Lab 1 to guide you through the usage of e-puck on Webots.

2: Use arena, code and the Supervisor from Lab 2 to add a point of light on each corner of the arena and add the obstacle avoidance behaviour of Task 1 to the robot of Lab 2. The lights should “switch on” at one corner at a time in a random sequence.
 
The robot should perform phototaxis every time any light is on and avoid obstacles using the BBR approach. You will have to insert obstacles in the robot arena to test if your controller is working. You will use the behaviour-based controller already implemented to guide you through the usage of e-puck on Webots.
 
3: You should evolve a robot controller to control a single robot on a race circuit as depicted in Figure 1 using an Evolutionary Robotics approach.
 
The robot should follow the line on the ground all the time and avoid obstacles while racing to finish the circuit as quickly as possible. While following the line on the ground if the robot faces an obstacle, the robot should go around the obstacle until it finds the line again in order to continue on the race circuit.

Activities for each Task

Activity 1: Choose the corresponding project repository from your lab’s material into your coursework folder.

Activity 2: Create the arena environment.

Activity 3: Code and run the controller to perform the Task described.

Activity 4:  Record a short video (no more than 3min) for the Task showing the final robot behaviour.

Collect data that would illustrate the corresponding final robot behaviour.

Collect statistics for each run for Task 3.
 
you can refer to the past labs activities in order to have some guidance on how to do this.

What you are asked to do:

1. Implement a robot controller for each Task.

2. Test your controller.

3. Make a short video (no more than 3min) of the final desired behaviour.

4. Write a report and submit the report, short videos and the codes to CANVAS.

5. Sign the “Coursework Group Signing Sheet” and submit it together with your report on CANVAS.

F20/21RO Intelligent Robotics

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