Name: Wenxin Xiao
Team Members: Aditya Ranade, 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.
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- Over this week, I worked on the code for the nodes that allow thermal to communicate with lidar to obtain distance information and publish the location of detected objects. The frame and the legs to uphold lidar got 3D printed. The team mostly focused on connecting to hardware components and move from simulation to actual mapping.
- Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
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- Our progress is slightly behind. We will work extra hours to catch up to the project and ensure we have deliverables by demo next week.
- What deliverables do you hope to complete in the next week?
- Next week we will mostly work to test our autonomous mapping and obstacle avoidance with our test scenarios and then move on and move on to thermal. Since a frame is not given in the specification, I will perform real tests to approximate the frame in order to obtain the angle of the object detected and connect thermal to other parts. We will then move on to test thermal detection with later test scenarios.
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.
- I worked on testing frontier exploration in hardware and real-world environments. At first, the code was running really slowly, so we made some optimizations regarding the map size and added threads to make some actions concurrent. We saw decent results as the robot was able to navigate to unknown spaces. We will continue working on tweaking our code to improve results.
- 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 will be working on human detection using the thermal camera this week.
- What deliverables do you hope to complete in the next week?
- We will test the frontier exploration subsystem in more real-world settings. I will work on improving the speed and correctness of this subsystem.
Team Report
This week we 3D printed our frame to hold the lidar and other parts on the iRobot. We worked to assemble the robot and run frontier exploration and gmapping on it.
Next week we will start real world testing with our frontier exploration and mapping with various test cases. We will also mostly focus on the thermal part of the project, debugging and modifying the algorithm to ensure it works in real life, and start real world testing with our thermal detection with various test cases.