MOBILE ROBOTICS – Exam 13th of July 2012NAME, SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------1.) Please draw the complete visibility graph between the obstacles below. (points 4) 2.) Different types of sensors have been discussed in the lecture: a.) What is the difference between an “active” and a “passive” sensor? (points 3) b.) Give one example for a “passive” sensor: c.) Give one example for an “active” sensor: ------------------------------------------------------------------------------------------------------------------------Page 1 of 7 Please explain why this sensor cannot be used and why a LIDAR or radar based sensor would work: (points 3) 4.) A fast flying UAV with velocity of 350 m/s and an operational environment temperature of 20°C needs a sensor for collision avoidance. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------3. One of the developers comes to you and asks if a new ultrasonic sensor with a range of 100 m can be used.MOBILE ROBOTICS – Exam 13th of July 2012 NAME.) Draw the movement of a robot in the given map using the ALG 1 algorithm and mark all entry and leaving points as discussed in the lecture: (points 5) ------------------------------------------------------------------------------------------------------------------------Page 2 of 7 . (points 5) ------------------------------------------------------------------------------------------------------------------------Page 3 of 7 .) Please use the prepared timing diagram below to explain how the byte with the information: 00101000 (40 decimal. Please draw only the voltage signal for this information and do not forget to add the discrete voltage values along the axis of the figure. 28h) is send over a RS232 data line. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------5. no parity. The data format is 8N1 (8 Data bits. 1 stop bit).MOBILE ROBOTICS – Exam 13th of July 2012 NAME. MOBILE ROBOTICS – Exam 13th of July 2012 NAME. (points 5) ------------------------------------------------------------------------------------------------------------------------Page 4 of 7 . Please draw into the prepared material where the robot could predict its own position based on the information about the past doors and the driven distance since power on.) A robot that is only able to measure the driven distance after power on and that is able to detect doors has to perform a self-localization task. The map of the floor is given as background information to the robot. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------6. please create from the terrain map a gradient map. Please explain using a small drawing combined with a short text how the position of the UGV can be determined.MOBILE ROBOTICS – Exam 13th of July 2012 NAME. (points 5) 3 5 3 8 4 8 5 4 1 8 5 9 2 2 5 5 5 7 2 5 5 6 1 8 ------------------------------------------------------------------------------------------------------------------------Page 5 of 7 .) A 3D Laser scanner has measured the height information of the surrounding of a UGV and used the self-localization information to create a 2D map containing the absolute height values. In a second step please mark all cells with a gradient higher or equal to 5 as an obstacle in the gradient map. As the robot has a limited capability to move on the terrain. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------7. (points 3) 8.) Every global positioning system is using several reference points/objects that are publishing a signal on a regular basis. For the movement of the UGV please use 4-point connectivity. please mark all alternatives.MOBILE ROBOTICS – Exam 13th of July 2012 NAME. If more than one optimal solution exists. SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------9.) Please use the Wave-front propagation algorithm for the grid map below to calculate the optimal path from the start position (S) to the goal position (G). The obstacles are marked grey. (points 5) S G ------------------------------------------------------------------------------------------------------------------------Page 6 of 7 . the terrain information and for the collision avoidance towards the obstacles the diameter of the UGV.5 cells. Please use 8-point connectivity for the path planning with A* and do not forget to consider the heuristics. Please consider the size of the UGV with a diameter of 1.MOBILE ROBOTICS – Exam 13th of July 2012 NAME. (points 7) 10 5 9 5 8 5 8 5 7 5 6 5 6 5 5 5 5 5 5 5 10 1 8 1 7 1 6 1 6 1 5 1 4 1 4 1 4 1 9 1 8 5 7 10 6 3 5 3 5 9 1 8 5 7 10 6 5 10 4 10 3 10 3 10 2 10 2 15 9 1 8 5 7 10 5 10 4 5 3 5 2 5 1 3 1 3 9 1 8 5 7 10 6 10 5 10 4 1 3 5 2 5 1 3 9 1 8 3 7 1 6 10 5 1 4 1 3 5 S 1 3 1 G 3 ------------------------------------------------------------------------------------------------------------------------Page 7 of 7 .) Please use the map below to plan the path using A* from the start position (S) to the goal position (G). SURNAME: ______________________ Student ID / Matrikelnummer: ____________ ------------------------------------------------------------------------------------------------------------------------10. For your convenience the heuristic of each cell is given in the lower left corner and the terrain value is given in the lower right corner.