Since the last status report, I have completed simulation for path planning, working path planning code that can be deployed on the robot, and fully implemented though not yet tested obstacle avoidance code. We are not using SLAM and Nav2 any more. We are now using preloaded map, A* algorithm, and dynamic path re-planning. I also worked on the final presentation slides and gave the presentation last Wednesday. For the rest of the time, I will help with further testing of path planning and fixing any problem with obstacle avoidance. If time allows, I will use Lidar data to replace the preloaded map.
Andy Li, Jeremy Kovacs, and Soren Dupont