COMP

581: Introduction to Robotics

Fall 2017
Instructor: Prof. Ron Alterovitz (ron@cs.unc.edu)

Assignment 1

Deadline: September 19, 2017 at the beginning of class (3:30pm). For the late policy, see the
course syllabus.

Please print out this assignment and turn it in at the beginning of class. If you handwrite
your answers, write your answers directly in the space provided under each question. If
you type your answers, please insert the printout of your solution for each question
immediately after the printed page of the question.

1
1. Bug algorithms (12 points)
For the two environments below, draw the paths that would be taken by a point robot
executing Bug0, Bug1, and Bug2 from the center of qS to the center of qG. In all cases, assume
the convention is to turn right when bumping into an obstacle. If a path overlaps itself at
some point, draw your path such that the line is a little to the side of the previously drawn
line so that it is possible to see where the robot moves. Which algorithm gives a shortest path
for each environment?

Bug0:


qG




qS






Bug1:
qG




qS








Bug2: qG




qS

2



Bug0:


qG



qS








Bug1:

qG



qS








Bug2:
qG



qS

3
2. Bug algorithms comparison (10 points)
In the workspace below, add obstacles to create a workspace such that Bug1 results in a
shorter path solution than Bug2. Draw separate paths taken by the robot under Bug1 and
Bug2.

qG

qS

4
3. Tricycle kinematics (10 points)
A tricycle robot with a powered, steerable front wheel is to travel at 1 meter per second while
turning to the left with a radius of curvature equal to 20 meters. The robot is 1 meter wide
(distance between the rear passive wheels) and 2 meters long (distance from the front
steerable wheel and the rear wheel axle). All wheels have a radius of 50 cm. What should the
steering angle be for the front wheel (assuming 0 is straight)? Also draw a figure of the
tricycle (top view) and indicate this angle. If this question is impossible to answer without
more information, specify the additional information you would need in order to solve it.
Assume the robot has ideal wheels.

5
4. Differential drive robot kinematics (10 points)
A differential drive wheeled robot is to is to travel at 1 meter per second while turning to the
left with a radius of curvature equal to 20 meters. The robot is 1 meter wide (the distance
between the wheels) and is 2 meters long (with 1 meter extending in front and to the back
of the wheel axle). All wheels have a radius of 50 cm. What should be the angular velocities
of the right wheel and the left wheel? If this question is impossible to answer without more
information, specify the additional information you would need in order to solve it. Assume
the robot has ideal wheels.