Detailed Design

Your website should document your journey through MSD, so include work-in-progress as well as latest results. Use pdf's for display whenever possible so that information is easily viewable without the need to download files and open applications. (Your Confluence file repository should still contain original editable files).

Content related to this node should go in the Detailed Design Documents directory unless you have made other arrangements with your guide ahead of time.

All template text must be removed prior to your Detailed Design Review

Team Vision for Detailed Design Phase

Summarize:

• What did your team plan to do during this phase?
  The team wanted to dive deeper into the subsystems of the APM to determine what was wrong and figure out test plans for MSD II. The main goal of this phase was to figure out what is wrong with the autonomous mode, as well as get the particle filter functioning. 
  
  
• What did your team actually accomplish during this phase?
  The team was able to create detailed test plans for each sub-section of the APM (Object Avoidance, Localization, Pathfinding, and Weatherproofing). The particle filter was also configured for odometer and motion update.

Progress Report

• What does the team plan to accomplish by the Detailed Design Review?
  • Particle filter working and subscribed to designated node
  • Figure out what is wrong with the particle filter
  • Start work on abstract
• What tasks have been accomplished so far?
  • Have particle code and have debug autonomous code and found issues
  • The team has created test plans
• What tasks remain, and who is the owner of each?
  • Complete abstract team effort
  • Get particle filter subscribed to LOAM for motion update - Chris
  • Get particle filter subscribed to LOAM for measurement update - Chris
• What decisions have been made so far?
  • The team has decided to add additional sensors to the APM for localization improvements. We have also decide to implement a Particle filter with these sensors.
• What questions does the team have for the customer and/or guide in order to continue moving forward?
  • When should we purchase a RealSense Camera

Prototyping, Engineering Analysis, Simulation

Simulation for particle filter heading update. This takes in magnetometer information from the vector-nav and uses that as a weight for the direction. It subscribes to vectornav/MAG to take in heading and updates particles with each heading input. Then returns predicted heading value.

Simulation for particle filter position update. This takes in location information from the GPS and uses that as a weight for the position, and it takes odometer data to perform the motion update of the particles. It subscribes to the GPS node to take in location and LOAM node data to update particles' relative position. Then returns predicted position value.

ROS Transforms

 Base-Link Identification:

tf Current State:

tf Additions and Discrepancies:

tf Parameters - Relative vs Differential

Relative (Implemented):

• Fuses all absolute Position/Orientation data, as-is
  
  

• Must validate covariance on each measured orientation variable

Differential (Alternative):

• Converts all Position/ Orientation data to Velocity
  
  

• Ideal when multiple sources of orientation data are available

Drawings, Schematics, Flow Charts, Simulations

The above flowchart shows the past teams software layout. 

Purple Cluster: Handles Velodyne point clouds

Green Cluster: GPS

Red Cluster: Odometry/Localization

Yellow: Destination, static map, height map, object avoidance

The flowchart above shows the past teams odometry/localization software layout.

New odometry/localization software layout using particle filter and RealSense odometry.

Look into static map to see if it needs updating.

Bill of Material (BOM)

Pending Purchases

Test Plans

What Will Be Tested:

• Object Avoidance: Cost Map, Time Takes to Decide, Minimum Passing Distance From Object. Actual Distance vs. Perceived Distance from Object, Object Classification

• Localization: GPS, Particle Filter

• Path-Finding: Waypoint

• Weatherproofing: Sensor Work in Various Weather Conditions
• Battery: Ensure that it is operating correctly

Strategy:

• Test in real world scenarios 

• Object Avoidance: Place objects in path of vehicle and around and see if it can avoid. Also place objects that it can't avoid to ensure it will stop.

• Localization: Check the location that is returned by the GPS and calibrate to current location if there is a mismatch. Ensure particle filters find location in a timely manner and match GPS coordinates. 

• Path-Finding: Test autonomous mode on various different types of paths that the vehicle may experience to ensure that it does not treat it as an obstacle. Use various starting points and navigate to different locations

• Weatherproofing: Determine which forms of obstacle detection are affected by various weather conditions and seek alternate methods of object detection that will work in those weather conditions.
• Battery: Will be sent in to company to see what's wrong with charging issue

Pass/Fail Criteria:

• Object Avoidance:
  Pass: APM detects obstacle within 5 meters and takes action to avoid it or stops whatever is appropriate. 
  Fail: APM hits obstacle or does not detect it and avoid it within 5 meters.

• Localization:
  Pass: APM can determine its location with 2 meter accuracy with assistance of the particle filter algorithm.
  Fail: APM can not find its location or the location is not at the current location.

• Path-Finding:
  Pass: APM can create a path from its current location to the requested destination. 
  Fail: APM cannot determine a path from its current location to requested destination.

• Weatherproofing:
  Pass: APM new sensor can withstand weather. Also autonomous mode can operate in mild weather conditions.
  Fail: APM news sensors can no hold up to the weather. Autonomous mode can not operate in weather conditions.

Risk Assessment

• APM Autonomous mode not working

• Cause: Last Phase left it in an unworking state

• Effect: Delay project and causes debugging complex systems

• Mitigation Plan: Scrap the current APM localization system and implement the new system in the first few weeks of MSD II

• Integration of new hardware

• Cause: Complexity of software hardware integration

• Effect: Delay in project progress

• Mitigation Plan: Allow extra time in schedule for integration

• Integration of particle filter

• Cause: New concept

• Effect: Learning time

• Mitigation Plan: Allow time for debugging in schedule

End Of Semester Plan

• Gate Review with Professor Loui (12/10)

• Assess teams current state 

• MSD Team Semester End Meeting

• Go over responsibilities

• Go over peer evaluations

  
  

Project Plan For MSD II

MSD II Three Week Plan

Design Review Materials

• Presentation