This week I worked on use case requirements, testing, verification and metrics, and solution approach sections in the proposal presentation slides. I researched potential implementations for obstacle avoidance and return-to-home behavior. For obstacle avoidance, I explored using four discrete ToF sensors mounted at the four corners of the mobile base to provide close-range distance sensing and collision prevention. The current plan is to interface these ToF sensors with an Arduino for low-level distance monitoring and safety checks, although directly connecting them to the Raspberry Pi is also a feasible alternative and remains under consideration. For return-to-home localization, I investigated UWB-based solutions and proposed using two DWM1001-DEV modules, configured as one anchor and one tag, to provide a reliable reference for navigating back to the initial standby position.
Overall, my progress this week aligns well with our project schedule. For next week, I plan to focus on developing a more detailed system design, including drawing clear design and integration diagrams that illustrate how different components communicate and work together. I will also begin working on the design review presentation as well.