Jai Madisetty’s Status Report for 4/30

This week, I worked on setting up the testing environment. Due to size constraints in HH and lack of materials, we decided to use a 10×16 ft^2 environment. We modified the design a bit due to the large radius of the robot and its difficulty to maneuver the narrow obstacle course. Additionally, I finished up with the DWA path planning algorithm, modifying some of the logic in the frontier search portion of our code. Right now, all that is left is integration and tuning our overall system. Due to our robot’s autonomous nature, it is necessary to test our system with headlessly, which is quite difficult due to network latency. Our SLAM and path planning algorithm aren’t exactly synchronous in real time. As a result, we plan on slowing down our robot’s movement so it will be easier to test.