Prithu’s Status Report for 11/5

This past week we met on Saturday to work on getting the robot to properly follow a path from the path planner, pick up, and drop off the pallet. Through this process, I found several bugs that needed to be addressed. 1) The collision checking being performed was extremely inefficient and was causing the planner to take much longer than expected. 2) The planner did not have the ability to turn counter-clockwise. 3) A straight-line runway was needed as the robot was approaching the pallet to prevent it from turning too close to it and bumping. 4) New costs were assigned to differentiate between turning and going straight and encourage the robot to drive in a straight line rather than turn. All of these bugs were fixed and implemented for the demo on Monday.