Laboration 3 (assigned on Jan 31, optional)

Objective

Implement and test a rule-based controller

Steps (all optional)

  1. Implement the GoTo rule-based controller,
    and test it with different start and goal positions.

  2. Implement the AvoidObstacles rule-based controller,
    and test it with different configurations of obstacles
    and obstacles of different colors

  3. Tune the parameters used to set the FPreds until you obtain a good behavior
    (for AvoidObstacles you also need to tune the value of DangerThreshold)

  4. Try to modify the rules in the behavior: can you find a simpler set of rules?
    can you find a better set of rules? Explain your findings, in all cases.

  5. Implement a FollowObstacle behavior as hinted at in the lesson,
    and test it

Optional report due: Feb 10

Include (only) your code, with comments.

Discuss how the testing has been done,
and show the trajectory of the robot in a few sample runs

Discuss how the tuning have been done, and show the trajectory of the robot
in a case with good tuning and in a case with bad tuning.
Explain what was bad in the bad tuning.

Discuss how you have changed the rules and why, if you did so