- Accomplishments for the week:
- This week, I learned many of the necessary skills needed to build this robot, namely using CAD and programming C++ on ROS.
- I used Solidworks to create a lid for the robot:
- I did the entirety of the ETH Zurich ROS Course (https://rsl.ethz.ch/education-students/lectures/ros.html) to learn ROS.
- This involved writing ROS nodes and services for a simulated Husky robot with many sensors- I wrote a P controller that drove the Husky toward a pillar based on its laser sensor readings and also a ROS service/node to stop the robot before a collision.
- Above is a picture of the husky after it drove to the pillar and stopped.
- This involved writing ROS nodes and services for a simulated Husky robot with many sensors- I wrote a P controller that drove the Husky toward a pillar based on its laser sensor readings and also a ROS service/node to stop the robot before a collision.
- I also began thinking of the problem state for the multi-order algorithm. I’m pretty sure it’s NP-hard, but I’ll have to prove it to be sure.
- Progress:
- I am currently on-schedule with my tasks.
- Next week’s deliverables:
- Next week, I’m giving the proposal presentation.
- I have to clearly state the multi-order problem mathematically, and come up with a brute-force solution that can find a non-optimal solution to a multi-order problem instance.
- I also want to come up with a simulated weighted, undirected graph of where the robot can travel to in order to facilitate a basic, brute force implementation that can solve the multi-order problem.
- Ideally, I can write a working brute-force algorithm that solves any simulated problems and start working on a polynomial-time algorithm (or better brute-force, if I can prove it to be NP-hard).
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman