Sebastian’s Status Report for 5/1/2021

Accomplishments
- Wrote local planner subgoal interpolation
- Increased the GPS fix covariance in an attempt to smooth our Kalman filter output; we think our IMU should be relied on more heavily than the GPS since it has less jitter
- Ran many trials of the robot in various locations on campus collecting sensor data with the team.
- - Example of some localization data collected. The red line is our filtered localization, and the blue line is the raw GPS fix.
Progress Timeline
- Our progress has not regressed
Next Week Deliverables
- Functioning localization
- Final Presentation
- A delivery robot