The bulk of the work the past week was dedicated to the housing of the devices since getting the right dimensions and parts took some trial and error. I am currently working on the path planning portion of this project. The task is a lot more time consuming than I imagined since there are a multitude of inputs to consider when coding the path planning algorithm. Since our robot solely deals with indoor, unknown environments , I am implementing the DWA (dynamic window approach) algorithm for path planning. If time permits, I would consider looking more into a D* algorithm, which is similar to A* but is “dynamic” as parameters of the heuristic can change mid-process.
Given we only have a week left before final presentations, we are planning on getting path planning fully integrated by Wednesday, and then running tests up until the weekend.