CSE 468/568: Robotics Algorithms

CSE 468/568 Lab 5: A* Planning

The objective of this assignment is to plan a path for a robot from a given starting

point to a destination. Create a new package called lab5, and place the world files

(playground.pgm and playground.world) from the previous assignment in an appro￾priate sub-folder. Also provided a file map.txt that roughly represents the given map as

an obstacle grid.

The objective of the assignment is simple. Use A-* planning algorithm to find a route

from a default start point (-8.0, -2.0) to a default goal (4.5, 9.0). Please read through

the tutorial on ROS Parameters. The goal should be defined as two parameters goalx

and goaly both of which should be of doubles. This should allow us to set a new goal

parameter, and the robot should plan a path to the new goal.

Submission Instructions

You will submit lab5.tar.gz, a compressed archive file containing the lab1 folder. Please

name the launch file lab5.launch.

Use the submit script for submission using the syntax

$ submit cse468 lab5.tar.gz

or

$ submit cse568 lab5.tar.gz

depending on whether you are taking cse468 or cse568 respectively.

Details on the usage of the submit script can be found here.

The assignment is due Friday, Dec 6 before class.