Group Update
The SLAM software, encoder code, and local planner are fully implemented, and now need to be tested all together in time for demo. Maze parts, along with an alpha version of the robot with all the parts together, were constructed.
Amukta’s Update
I helped Kanupriyaa finish implement ICP and mapping. I also constructed the maze parts needed for testing and the demo.
Kanupriyaa’s Update
The ICP was completed and tested with different maze features. The ICP works but has huge error accumulation which prevents an accurate map from being displayed. Going to work on making ICP more optimized this week.
Tiffany’s Update
- Ordered parts arrived, including the aluminum channels and cardboard pieces for the maze, 5V to 12V step up adapter, DC barrel jack adapter, portable phone charger (our power source), and caster wheels.
- I updated measurements for the CAD file and lasercut various cardboard prototypes for RPLidar mount, Raspberry Pi mount, and caster wheel mount. The last prototype from this week has issues with balance, so I will need to make the robot chassis longer. Also, the cardboard mounts for the caster wheels bend under stress, but I don’t anticipate this being an issue when I cut the final version out of compressed wood. I also put all of components on the robot to figure out a compact way to mount everything in the final wireless version.
- I also bandsawed the 8 ft long pieces of aluminum channels down into 6 inch pieces, prototyped a few maze pieces and then assembled several more maze pieces with Amukta.
- On the electrical side, I tested the 5V to 12V adapter to make sure it is outputting 12V. I ran into two problems with adding the adapter to the system. The adapter’s current limit is barely enough to power both motors at 60% speed, so I had to limit the max motor power. This does not impact the overall performance though, since the 100% motor speed (350 rpm) was much faster than our project requirements called for. Secondly, I ordered a male DC barrel jack adapter instead of the female adapter so I had to search campus for a female adapter. In the meantime, the robot is still being powered by the 12V wall power supply.