Jeffrey’s Status Report 08/05/21

This week I focused on getting the project ready ready for the demo. We fixed some issues with the following car not going straight by adding weights to counterbalance the weight distribution. This allowed the car to drift less and led to more accurate localisation and odometry data which helped with the movement of the following vehicle. We also ironed out some of the kinks with the path planning of the lead vehicle. To accomplish this we had t fix some issues with the object detection, mainly we created a history of depth values of the detected object and if the object detection spit out a depth of 0, we would simply use the previously detected depth as an approximate. This allows for a much smoother object detection algorithm and more consistent objects for path planning. We were also working on integrating the lead and following vehicle together, however, ran into an issue with the following vehicle’s odometry, which resulted from a faulty optocoupler. In the next few days we have to finish filming the demo of the lead and following vehicles working together.