Last week our team was able to make 1 robot follow an arbitrary path in the field. This week our goal was to robust-ify that so we can put pallets on the field and have the robot pick them up!<\/p>\n
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We fell a little short of that goal but are able to pick up the pallets with a ~50% reliability. The issues we ran into were the planner not being able to find a path occasionally, and the robot doing hard corners around the path being planned.<\/p>\n
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The first problem with the planner is being actively addressed and the second problem with the hard corners has now been fixed with the updated cubic spline implementation!<\/p>\n
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We also upgraded the network\/communication latency with the robots using multi-threading to give us much better performance with our PID error controller.<\/p>\n
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Our goal for next week is to continue to improve the pickup reliability via the approach angle and also add multiple robots into the loop!<\/p>\n","protected":false},"excerpt":{"rendered":"
Last week our team was able to make 1 robot follow an arbitrary path in the field. This week our goal was to robust-ify that so we can put pallets on the field and have the robot pick them up! We fell a little short of that goal but are able to pick up … <\/p>\n