This week I worked on setting up the demo and integrating the range sensor code with Zeyi and Zehong’s pipelines. I also worked on the viability of altering our design to include two forward facing range sensors. To measure the viability of altering our design to include 2 forward facing sensors, I decided to create a model of what a single range sensor is capable of doing. This involved doing the trigonometry to solve for the distance of the field…
Zehong mainly worked on updating the algorithm further to add additional details. The algorithm now can start and end at different nodes. This helps decrease the limitations of the algorithm. In addition, Zehong focused on generating maps this week to help showcase exactly what is going on. He then ran multiple tests to make sure he is accounting for all possible scenarios. For more detailed descriptions, please read his update. Zeyi continued on improving the user interface and the additional…
Updated some features of the user interface’s second page. Added a button for the user to skip the current item. Implemented the feature that the user would be notified when the cart arrives at the current item, and an event loop that simulates the process that the cart travels on the map. The next step of the user interface part will be integrating with the path planning algorithm and refining the look of the interface.
After talking with professor during the last meeting, I first updated the algorithm so that it can start and end of different nodes. I then embarked on testing the limits of my algorithm. To do that, I first need to generate maps of my own. I first randomly generate the x and y coordinates of n nodes. The weight(distance) of edge between each pair of nodes is always the euclidean distance. I chose this to be the distance to avoid problems…
In the past week I have been testing the detection ranges of the range sensor. I ran multiple instances of 2 experiments. The first experiment measures the accuracy of range sensor outputs from a known distance from the wall. This experiment was run multiple times by varying the distance from the wall and logging the sensor outputs to a spreadsheet. The 2nd experiment varies the angle that the sensor points at an object. I varied the angle from 3 degrees…
This week, during our meetings, we have discussed and planned for methods of integration for week 9 and 10. Everyone in the team has made substantial progress in their individual components. Zeyi has finished the majority of basic functions of the User Interface for our website. The intergration portion would be intergrating to Zehong’s algorithm to calculate the most optimal path and planned path given by the algorithm. A more detailed description of Zeyi’s progress is in his weekly report….
This week, I finished implementing the entire path planning algorithm. It takes in two inputs, an origin and a list of nodes the cart needs to visit; and it returns the optimal route. As promised, the algorithm pre-computes the shortest distance between each path of nodes in the map using A* with the heuristic function being the euclidean distance between the two nodes. The shortest paths between each path of nodes are stored in data structure to be used in…
Finish some basic functions of the User Interface. User can add or deduct the number of items from the first page, and click submit to save the data in the local database (which Zehong’s algorithm will read and calculate the optimal path). The second page is currently a dummy, to demo that the User Interface can jumps to the second page after clicking the submit button. The display of current & next item and the planned path will be implemented…
This week, we were able to meet a few times to discuss our progress and what we would need to work more on in the following weeks. Zeyi has been continuing to work on the website and creating that interactive portion of our project. A more detailed explanation can be found in Zeyi’s personal weekly update. Zehong has been focusing on creating the algorithm and user test cases to midigate exceptions to the program. A more detailed explanation can be found…
As I briefly described during the Zoom call on This week I worked on Friday 3/27/2020, I worked on designing the algorithm this week. The following is a more detailed report: I first researched more about traveling salesman problem. After research, I feel like it might not be the most accurate representation of the problem at hand. One thing that TSP does not allow is visiting a node more than once, but my algorithm can visit any node any number…