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Shanel’s status report 4/19

Shanel’s status report 4/19

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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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Shanel’s Status Report 4/11

Shanel’s Status Report 4/11

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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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Shanel’s status report 4/5

Shanel’s status report 4/5

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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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Team Status Report 3/29 (with updated Gantt Chart and Risk)

Team Status Report 3/29 (with updated Gantt Chart and Risk)

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This week we were able to start connecting some of the individual parts of our project. We’ve starting to link the frontend and backend of our web application, and export the odometry data of the Roomba to our processing and navigation algorithm. We ran into quite a bit of trouble installing Cartographer ROS onto the Pi, because there were many unresolved dependencies that are poorly documented. We were aware of Cartographer’s package problems before spring break, and spent an additional…

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Shanel’s Status Report 3/22

Shanel’s Status Report 3/22

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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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Shanel’s Status Report 2/29

Shanel’s Status Report 2/29

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At the beginning of the week I really thought we were behind, especially because we spent the last week prioritizing the design document and presentation. However, our team benefited from work sessions outside of designated course time on Friday and the weekend. By Wednesday, we had received all our parts and collected design feedback from the presentations. As a result of the design feedback, we made two major design changes to the project: Add ultrasonic sensors to be able to…

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Shanel’s Status Update for 2/23

Shanel’s Status Update for 2/23

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This week we were able to pick up parts and begin testing out the RPLidar A1. I also continued working on the design report.   Because of the discussion on Monday, we missed time to work on our project during the allocated course time. I think we will have to start working more hours on our own outside of the official class times. This means we’ll have to strategically plan syncs and checkpoints for the time we have together

Team Status Update for 02/15/20

Team Status Update for 02/15/20

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We started our week by reflecting on the proposal presentation and feedback. It was clear to us that we need to refine our requirements based off of the target user experience, rather than the specs of each individual component. There was also some confusion over the scope of the project, so we’ll need to make this clearer next time in the design presentation.  After the first proposal presentation, our group had some concerns about the processing power needed to run SLAM,…

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Shanel’s Status Update for 02/15/2020

Shanel’s Status Update for 02/15/2020

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I spent most of my time this week working on the design report and presentation. After looking through some reports from previous semesters, I created a rough outline in which the team and divide and flesh out each of our respective focus areas. I researched some previous projects using Tesseract, an open source OCR (optical character recognition) program. Although this program is widely support and has seen pretty good success with reading text from signs and paper, I am a…

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