This week we have been working on the design presentation, as Mae and Serena work out software implementation and Meghana on robot hardware. We have two main changes to our project based on the discussions with Tamal this week. Instead of building a robot from scratch, we are going to use the iRobot as a base and mount the intake onto it. This way, we reduce the amount of work and can use the iRobot open interface to communicate from the Jetson to the iRobot. Additionally, we are adding non-water bottle obstacles that the robot should be able to avoid with a fixed path solution (rotating 90 degrees, then moving 1 foot). This introduces more complications to our software implementation.
Mae is working on training her model with the additional obstacle class and striving for better accuracy. Serena has set up the Jetson and RealSense and is working on object tracking and getting distances with the LiDAR camera. Meghana is implementing a design for the intake and figuring out how to mount it on the iRobot, as well as finalizing a parts list.
With the introduction of the iRobot and obstacles, we feel that we are behind schedule and will use the next week to speed up our progress.
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