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).

All template text must be removed prior to your Subsystem-Level Build & Test Review

Team Vision for Subsystem Level Build & Test Phase

Summarize:

  • What did your team plan to do during this phase?
    Have the golf cart able to move and function autonomously. Have the particle filter integrated for both heading and location. Also make sure it works for for inputs to the filter and outputs. 

  • What did your team actually accomplish during this phase?
    In this phase we actually got the golf cart moving on its own. It is able to steer and stay on the map as long as it is localized correctly. We also where able to integrate object detection with the Velodyne. Also the realsense it integrated.

Test Results Summary

Requirements and Testing Document is linked.

For tests during this phase we tested our baseline autonomous vehicle without object detection. It performed well in being able to drive in the localized zones. It did follow the path, but seems like it did not detect curbs well with the hukuyo. Then we integrate object detection with the Lidar and that seemed to help with detecting people and obstacles, but still did not detected curbs well. The heading from the real sense seems to stay very accurate, but localization seems to need to be adjusted to work better. Bellow is a video of it navigating to a destination. 

https://drive.google.com/open?id=1cMkUijz-oaXzBpGaXjZYdPGhM9GU08qA

Risk and Problem Tracking

Functional Demo Materials

Plans for next phase

  • As a team, where do you want to be in three weeks at your next demo?
    • Add safe zone/camera.
    • Have localization on startup
    • More accurate localization and to reinitialize localization once it reaches its destination.
    • particle filter integrated if we determine it is still needed.
    • stability mount completed
    • Add tachometer from previous phase to improve reliability of RealSense
  • Aucune étiquette