Page 270 - Introduction to AI Robotics

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6.10 Exercises
Describe the types of sensors that may be needed and how they will be used. Do not
focus on how the robot moves around just on the sensors it will need to use. Extra
credit: Comment on using simple voice recognition software and a microphone to
seek out human voices (e.g., cries for help). y
Exercise 6.15
How are the concepts of logical sensors in robotics and polymorphism in object-
oriented programming similar?

Exercise 6.16
Define image function. What is the image function for
a. the left-right images in a stereo pair?
b. the depth map?

Exercise 6.17
What are two disadvantages of light stripers?

Exercise 6.18
Consider an obstacle avoidance behavior which consists of a perceptual schema that
provides a polar plot of range and motor schema which directs the robot to the most
open sector. List all the logical sensors covered in this chapter that can be used in-
terchangeably for the perceptual schema. Which of these are logically redundant?
Physically redundant?
Exercise 6.19
Assume you had a mobile robot about 0.5 meters high and a planar laser range finder.
What angle would you mount the laser at if the robot was intended to navigate

a. in a classroom?
b. in a hallway or reception area where the primary obstacle is people?
c. outdoors in unknown terrain?
State any assumptions your design is based on. Is there more information needed; if
so, what?

Exercise 6.20 [Programming]
Write your own code to give you the threshold of a small interleaved image. y
Exercise 6.21 [World Wide Web]
Search for Kludge, another robot built by Ian Horswill. Describe Kludge’s homemade
whisker system and how well it works.

Exercise 6.22 [Programming]
Program a mobile robot to find and bump an orange tennis or soccer ball.