Significant Risks + Management
GPS accuracy issues have not been resolved, but we now possess all the components we need for setting up GPS-RTK, and aim to complete this before the final demo.
Design Changes
We’ve changed the nature of our LiDAR integration, as it seems that the RealSense series is incompatible with Raspberry Pi OS. We have been able to use it in MacOS and Linux environments without issue, so there is the possibility that we demo with a LiDAR mounted on the board and a connected laptop serving as an intermediary between the device and the board.
Schedule Changes
There are no major schedule changes, and we are on track to have the project completed by our final demo date.
Progress
Jason has designed and 3D printed an enclosure for the onboard electronics. The board can easily be assembled and disassembled for reconfiguring and debugging electronic components.
Tio has written the autonomous return and manual control for the board, and is currently refining the RTK accuracy for improving the return.
Sharon has integrated the backend Bluetooth signals from the mobile app with the Raspberry Pi on the skateboard. She addressed challenges with outdated libraries by utilizing a specific fork of Bleno and implemented a socket-based communication flow, which improved responsiveness and reduced latency for motor control commands. Sharon also worked on refining the GPS accuracy for the ‘Return to Me’ feature by testing various filtering techniques, including the Kalman filter, to smooth out location inconsistencies. Additionally, Sharon refined the app interface, introducing an emergency stop button requiring a double-tap to activate for added safety and removing the reverse functionality to simplify user interactions.