Most significant risks: Currently, our navigation can be a bit buggy depending on the area that we have mapped. We have also experienced great variance in the quality of the mapping process in HH 1307 and just outside of it. We believe that this is due to the amount of glass (which lidar struggles with) and the density of small objects. We want to try testing in “simpler” areas for the lidar like Wean 4th floor.
No changes to the design of the system have been made. We are in the endgame, so navigation is what needs to be solved
No changes to the schedule have been made
Validation:
Verification tests were discussed in the individual reports. Once mapping and basic navigation are improved sufficiently, We plan to start mapping larger areas like an entire corridor on the 4th floor of wean or the physics area there. With larger areas, we can better test the robot’s ability to avoid people and crowds, which will signify meeting our use case requirements. To test those abilities, we plan to give it a longer route (25-40m), and first see if it can properly navigate there without moving obstacles. We then plan to use ourselves as moving obstacles along the path on future runs to see how it reacts.