Project #3 1 Project #3 Map: Robotics Realization Lab’s map (2D map has been uploaded into Canvas) Search Algorithm: A* Vehicle: Deferential drive robot with two wheels The diameter of the robot: 400mm (just like turtlebot2) Software: V-rep or Gazebo Deliverables: • Two source codes ( A* for project # 2 and A* for project # 3) • Simulation results • Text file including the velocity, (𝑥𝑥̇,𝑦𝑦̇,𝑧𝑧̇,𝛼𝛼̇, 𝛽𝛽̇ ,γ̇), information of the robot with respect to time as instructed by sample text file (2 Hz: two samples per second) • Readme file • Due date: April 15 2 Rubric 1- Implementing A* for project 2 (source code) : 2 points 2- Implementing A* for differential drive vehicle (source code with proper commenting): 5 points 3- Left wheel’s and right wheel’s rotational velocity in a txt file: 3 Points 4- Readme.txt file with instruction : 1 point 5- Implementation on real robot (Turtlebot): 4 points Note: Students who prefer to implement project 4 on real robot (Baxter) can ignore step 5
