Author: isaackim

This week I spent most of my time preparing for the final presentation.
I am still working with obstacle maneuvering for our rovers. Right now we have the logic for avoiding the obstacle, but we still need to integrate it with continuing on the search pattern after the obstacle has been avoided. After we have the rovers successfully partitioning the space and going on the search patterns, I hope to have obstacle handling in place as well.
As final demo approaches, I hope to have our subsystems successfully integrated and unexpected errors debugged.

This week I spent most of my time working on the basic wandering algorithm and building the other rovers. Some of the movements in wandering have the correct directions, but there seems to be some slipping on the wheels that takes them off-course. I am looking into some options that could increase the traction on the wheels for more accurate movements.

I am currently also working on obstacle maneuvering, but it is not the top priority since I am working on fixing some of the wiring on the third rover. Some of the parts are also overheating substantially, and we hope to fix those errors and then integrating the base algorithms we have in the following week.

This is week I have been working mainly on the interim demo with my team. Unlike how I was worried before, the demos went a lot better than I expected. Other than that, I am still working on path planning for the rovers. Some comments from the demo discouraged what I have been planning for now, so I am doing some research for other options.
In the following week, I am expecting some ground work for the path planning to be done.

This week I worked on putting the parts of the rover together, as well as starting with path planning. There are still some testing to do for the code, and I hope to begin testing what I have so far in the following week. I am waiting on some parts to arrive to finish building the second rover and hope to begin coordinated movements once we have them.

This week I worked on finishing the coordinate movement of the rovers and space partitioning algorithm. Once we meet this week to put all parts together, we will be able to finalize movements based on tested ratios of the rovers. We are aiming to have two rovers put together that can communicate with each other in the following week, and once we have that we will be able to add their coordination algorithms. Space partitioning is now scalable by recursively partitioning the area, and once we start testing, we will test different sizes and check if it functions correctly. I am on schedule, and I hope to contribute more in the following week as we begin assembling all parts to work cohesively.

This week I worked on space partitioning algorithm and rover movement based on coordinates. Rotations still need to be calculated by testing our motors with the new battery, and I plan on having it done for this week. For space partitioning, I have assigning partitioned spaces to rovers based on index done, but I still need to figure out a way to do this recursively so that it is scalable. I haven’t done as much as I wanted to this week, but I am caught up on schedule and this week I am expecting a more tangible progress.

The week before spring break, I mainly worked on writing the design report and building our first rover with the team. As we received our main parts for the rovers, I should be able to finish basic motor control of the rovers with the Pis. There has been some shipping delays that is impacting our progress, but we are still not too late on schedule. I am planning to finish the rover movement and begin working on convergence protocols before the other parts arrive.