Robot Foundations 03, beginner
Make the Robot Reach the Goal
Combine sensing, localization, planning and control to reach a goal.
The robot can move. The robot can sense. Now make it reach a target in an environment containing obstacles. The direct path is blocked.
Stages
Key ideas
World model
A grid map built from sensor data: free, occupied, or unknown.
Localization
Knowing approximately where the robot is, from odometry corrected by recognisable landmarks.
Planning
Searching the map for a collision-free path from start to goal.
Control
Steering along the path, using the controller from Foundations 01.