Week 7 Update (2/19-2/23)

This week showed progress in the development of our existing Move cpp node, and the creation of our new MoveWithLidar.xml behavior tree. We did a bit of restructuring to organize all functionality in our node, and logic in our behavior tree, which is proving much more helpful and efficient. We now have logic implemented in place of a basic loop with repeating hard-coded movement commands. Initially, we used a "go until you see a wall, stop, reverse until you see a wall, repeat" logic tree to test out Lidar scope and limitations. Through many trials, we learned a lot about the 360 scope of the lidar, as well as some errors in the structure of our code (ie. mixing logic between our node and bt). We narrowed the scope of the Lidar to make decisions only on input from an 11-1 o'clock range, so a side parallel wall will not trigger as an obstacle. 

Additionally, this Monday we also received access to the actual Lidar sensor, and will being testing and implementation during Week 8. We are also meeting with the MEs this week to discuss next steps regarding implementation and expectations for the remainder of the semester. 

Total hours: 24 hours.

Fig 1. New MoveWithLidar.xml behavior tree 


Fig 2. Updated callback of Move.cpp node, 
specifying "obstacle" range for Lidar scope messages


   Fig 3. Initial "go until wall, stop, reverse until wall, repeat", 
triggered by parallel walls



Fig 4. Successfully executing wall detection with direct collision range

Fig 5. Lidar sensor secured


Comments

Post a Comment

Popular posts from this blog

Week 9 Update (11/27 - 12/1)

Image
This week's progress centered around troubleshooting issues and then starting to alter our existing attempts at Ackermann Steering to work without any additional axles or parts to the simulation. Progress this week could have been minimal as going to the desktop on Wednesday led to the discovery that the Wifi Dongle attached to the monitor was no longer working. After much troubleshooting, we ultimately discovered that an unknown party unplugged the Wifi Dongle we were using and replaced it with a broken one; likely thinking that the broken one was a usb to connect a wireless keyboard and mouse. Solving the issue allowed us to begin reworking the current Ackermann model we created (which accidentally mmade the little robot into a helicopter). We aim to continue development on the reworked Ackermann model -- and hopefully have it done over the break -- so that the next semester can focus on the next phase of the project. The total hours logged for this week: 19 hours. Below are imag
Read more

Week 8 Update (11/13 - 11/17)

Image
This week's progress centered around updating our current simulation model to fit the physical models Ackermann Steering method. Progress this week was not major as many attempts to reconfigure the front wheels for more accurate steering were made, with advancements appearing near the end. We are continuing the development of the simulations Ackermann Steering and from there will begin programming a set path for the robot to move, additionally, the controller for the simulation may have to be updated to work with the new steering. The total hours logged for this week: 20 hours. Below are images and videos documenting our progress: Fig 1. Front Axle Testing Fig 2. Applying forces to the robot Fig 3. More forces
Read more