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Lab 2 Wall-follower in Simulation

�Lab Slides Link:

tinyurl.com/RSS26-lab2

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Logistics

  • Updated docker container: from racecar_docker dir, run

docker compose pull

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  • Labs are due at 1 pm!

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  • OH schedule is set (Piazza)

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  • Help each other on Piazza

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  • Take Advantage of Lab Hours

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Introducing Lab 2: Wall Following Simulation

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Lab 2: Motivation and Overview

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Goal

  • Follow wall according to parameters:
    • Side of racecar (left/right)
    • Speed
    • Distance to wall

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  • Control the car using:
    • Steering angle
    • Speed

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What data do we have: LIDAR

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First Challenge: Estimating the Wall

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Potential Difficulties

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Second Challenge: Following it

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Test Cases

  • Starts the car at a predefined position
  • Ends when the car is within margin of a predefined goal position
    • Car must make it to the goal to receive a score

velocity: 1

velocity: 1

velocity: 2

velocity: 2

velocity: 2

velocity: 3

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Performance Metrics and Evaluation

  • Sample distance to wall of your racecar N times at regular time intervals to compute loss

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  • Your score computed as:

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  • Note: Impossible to get 100%, but we have calibrated α so scores for reasonable wall following performance will be ⪆95%
  • Note: Robot velocity is not accounted for in your score (though it needs to be within 10% of target velocity for tests to pass)

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Final Tips

  • Steps to Success

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Links & Logistics

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  • These Slides: (On Canvas) http://tinyurl.com/RSS26-lab2

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