Name: Wenxin Xiao
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
-
- Over this week, I modified the code for human detection and investigated methods of creating a node for thermal to communicate with other parts of the design as no available package was found on the thermal camera we purchased.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
-
- Our progress is on schedule. We have each part working separately in simulation and will start integrating the components together.
- What deliverables do you hope to complete in the next week?
- Next week we will mostly work together to try to move from simulation to the real robot chassis. The board should be 3D printed and placed on the robot and so should all other parts. The frontier exploration and thermal camera need to move from simulation to real world testing.
Name: Aditya Ranade
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
-
- Over this week, I fixed the obstacle avoidance code, which was an issue in the mid-semester demo. I increased the obstacle detection threshold and also increased the size of obstacles by changing the values of cells adjacent to obstacles to being an obstacle itself. The preliminary results have so far been good as the robot does not collide into walls or other obstacles.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
-
- We are on schedule for the frontier exploration and hardware implementation. We need to catch up on human detection. We will be spending most of the next two weeks on this problem.
- What deliverables do you hope to complete in the next week?
- We will print the 3D mount for the lidar, thermal camera, RPi and battery pack. We will assemble the robot and test our code in real world scenarios.
Name: Akshat Jain
- What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week.
-
- Over this week, I fixed some issues we were facing during the mid-semester demo with the simulation. I updated the lowest cost path heuristic to add a cost to all cells on the grid adjacent to obstacles. Our robot now turned farther away from the obstacles than it initially was. I also set up the LIDAR with ROS so that it could start sending point cloud data to our frontier exploration subsystem.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
-
- We are mostly on schedule for individual subsystems. We will be combining all of them together in the upcoming weeks.
- What deliverables do you hope to complete in the next week?
- We hope to have the 3D mount for all the hardware components printed so we can start real world testing.
Team Report:
Overall, we have made very good progress on autonomous exploration using the heuristic of finding frontiers and moving to the cluster with the greatest mass in order to increase the amount of new information we get about our environment. The next step is to test this on the iRobot Create using the Lidar sensor. We expect no significant issues to arise when testing this in hardware.
On the human detection front, we are slightly behind since we require the robot to be setup. As a result, the first priority is 3d printing the mount and assembling the robot to allow for quick real-world experimentation.