{"id":139,"date":"2020-04-11T21:37:16","date_gmt":"2020-04-11T21:37:16","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/?p=139"},"modified":"2020-04-11T21:37:16","modified_gmt":"2020-04-11T21:37:16","slug":"alexs-status-report-4-11","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/2020\/04\/11\/alexs-status-report-4-11\/","title":{"rendered":"Alex’s Status Report 4\/11"},"content":{"rendered":"

This week, most of my work was done in several work sessions with the rest of my team. I made progress on the planning & routing algorithms for the navigation module. I implemented a search that, starting from the current position, expands radially outward until it finds a suitable destination (based on exploredness). Together with Shanel’s implementation of the A* routing algorithm, we now have both components of a navigation algorithm to find a destination as well as plan a path to it. Below are some examples:<\/p>\n

Initial Map<\/p>\n

\"\"<\/p>\n

Plan Destination (Red is Robot, Green is Destination)<\/p>\n

\"\"<\/p>\n

Route path to manually chosen destination (Red is Robot, Green is Destination, yellow is path)<\/p>\n

\"\"<\/p>\n

 <\/p>\n

Next week, I plan to integrate these two modules with the central robot controller, which we began working on on Friday. Our main priority right now is to complete a basic but fully-functioning version of our MVP, and then begin work on optimization, particularly the SLAM accuracy and the sophistication of the path planning algorithm.<\/p>\n

I am quite happy with our progress so far. We lost a fair chunk of time due to some persistent hardware (?) issues with the Roomba, but otherwise are experiencing no major roadblocks.<\/p>\n

 <\/p>\n","protected":false},"excerpt":{"rendered":"

This week, most of my work was done in several work sessions with the rest of my team. I made progress on the planning & routing algorithms for the navigation module. I implemented a search that, starting from the current position, expands radially outward until it finds a suitable destination (based on exploredness). Together with Shanel’s implementation of the A* routing algorithm, we now have both components of a navigation algorithm to find a destination as well as plan a…<\/p>\n

Read More Read More<\/span><\/a><\/p>\n","protected":false},"author":257,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[6,3],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/posts\/139"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/users\/257"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/comments?post=139"}],"version-history":[{"count":1,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/posts\/139\/revisions"}],"predecessor-version":[{"id":143,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/posts\/139\/revisions\/143"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/media?parent=139"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/categories?post=139"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s20-teamb2\/wp-json\/wp\/v2\/tags?post=139"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}