RIP: Robotic Indoor Plotting

This week, we focused on integration of each of our separate components together. The majority of the work we’re doing at this point is integration through pair programming. The part that I programmed this week was the control flow of each of the three threads (obstacle detection, SLAM/path planning, path execution) happening at the same time. For the end condition, we decided that the program would be complete when it is enclosed by walls on all sides and has mapped…

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I dedicated our efforts this past week to the software side of our project. First, I implemented A* search to generate a path for the robot to a previously selected destination. I used the Manhattan Heuristic so we could have a simple representation of the bearings of the robot as one of : North, South, East, and West. The path is represented as a list of points for the robot to navigate to next. As a MVP, we made the…

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For the demo, we plan to exhibit a full circle of data transfer (not necessarily in real time). It will start with the robot moving based on instructions we give it. It will take in odometry and lidar scan data that will feed into BreezySLAM. BreezySLAM will give us back a final point bytearray generated as a map. We then feed this map as a pgm fil into our navigation algorithm which generates a path and set of instruction back…

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The beginning of the week was spent deciding how to rework our project to something feasible that we would be able to deliver at the end of the semester. The group and I spent an initial meeting discussing what changes we are going to make: what to cut out, what to add, and what concerns we had. I then took this bullet point list and wrote out the full statement of work. Since we decided to add more to the…

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