- Current Risks and Mitigation
- All of us have been to the lab every day this week and spent at least 20+ debugging localization with GPS with no success. We collected sensor data at various locations on campus, including every sidewalk of the CFA lawn, the roof of the East Campus Garage, and multiple sidewalks around the flag pole. The coordinates we see both from the GPS fix and the filtered UTM location are reasonable, but the robot has difficulty orienting itself. We have yet to isolate the cause. We are currently testing a mitigation strategy where we do localization without GPS, only using IMU + wheel encoder to localize.
- Changes to System Design
- We might not use GPS in our design, depending on further localization testing
- Our ongoing battle with campus wifi continues, so we have decided to NOT have the robot connected to the internet during delivery. When the robot loses wifi connectivity, the core stops working even though the robot does not make external communication because the core is identified by the robot’s CMU-DEVICE IP address. This means that we cannot use our emergency operator features in most demos.
- Schedule Changes
- We are working to get our MVP running consistently, as we had several runs in the past where it successfully delivered, but does not currently work properly.
- Progress Pictures/Videos
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman