Week 5 Update (2/5-2/9)

This week's progress focused on the planning and development of an algorithm for intelligent 3D mapping and path planning. Since simulated 3D mapping with the LiDAR sensor has already been achieved through implementation of various ROS libraries, our focus is on the algorithm that will automate the process, eliminating the need for a user controller. After much research on the topic, we are in the process of developing a behavior tree and ROS node that will control the behaviors of the bot (output to the Arduino/motors) based on the input from the LiDAR sensor. 

We began with simple prescribed movements running from a terminal (which will be wrapped in our launch file) to ensure movements are accurate before implementing the logic of the behavior tree. We also confirmed the status of the real LiDAR sensor with the ME/EE group, and we should have access to it this following week. This is going to be integral in our next steps, as we want to begin transfer of code to the Raspberry Pi as soon as possible. 

Total hours: 20 hours.


Fig 1. Researching Behavior Trees in ROS


Fig 2. ROS topic showing current topics, we will need to add our own to this list


Fig 3. Direct movement terminal commands and xyz pos. feedback


Fig 4. Result of movement commands



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