- Accomplishments
- Finished initial implementation of the local planner in simulation. The robot can avoid obstacles while still going through waypoints
- Assembled robot base hardware.
- Helped test the motors and motor controller
- Tested the GPS sensor’s raw data output on campus sidewalks
- This looks promising, as GPS is usually accurate to 3-5m. These data are within the sidewalks most of the time, and I think combining this with wheel odometry and IMU data can lead to accurate localization.
- Finished initial implementation of the local planner in simulation. The robot can avoid obstacles while still going through waypoints
- Schedule Progress
- We are on schedule for our project. We got the parts and have made good progress this week on our deliverables
- Deliverables for Next Week
- Run the localization algorithm independently using the IMU, GPS, and camera
- Integrate motor controller using UART
- Fine tune the collision avoidance algorithm.
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman