Details on getting started are included below. The controller includes a number of Java source files, as well as a README file (detailing the role of each of the source files) and a configuration file used to define the map.
#WEBOTS JAVA DIFFERENTIAL WHEELS CODE#
The Webots project is available from here and includes the code for the controller as well as the definition of a sample world. A fifth task involves looking at the particle filter output, and providing a discussion on possible reasons for its behaviour, and how it could be modified to converge on the robot location (note you are not expected to fix this, but rather reflect on why it behaves as it does). The Webots project that you will be working with can be downloaded here: COMP329Assignment.zip The aim of the programming assignment is to take a partially completed Webots project, and add code to four of the files to determine: Deliberate movement Odometry and change in Pose A likelihood estimator for a Sensor Model A Monte-Carlo Sampler for a Particle Filter Each task is detailed below, and enables further functionality. A typical student should aim to spend approximately 16 hours on this assignment, and no more than 30 hours in total.
Note that this is an individual assignment. COMP329 Programming Assignment 1/3 COMP329 Programming Assignment Due Monday by 23:59 Points 50 Submitting a file upload Submit Assignment Programming Assignment - worth 50% To be completed no later than 23.55 - 18th Jan 2021 Official Deadline is 11th Jan, but submissions will be accepted with no late penalty applied for 1 additional week.
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