P17241: Autonomous People Mover IV/public/
Integrated System Build & Test with Customer Demo
Table of Contents
- The current plan is to run the localization map at a height that is slightly above head height. This allows the localization to happen independent of obstacles on the maps and the people that will be standing around the cart during Imagine RIT. Raising the height also mitigates arbitrary detection of the ground which is undesired. In this configuration, the cart cannot ever map ground based features. The main issue that is introduces is that the map will not include the curbs for the cart to plan. To mitigate this issue the curbs and missed features are added in a post processing step between mapping and navigating. Features are added as single pixel dashed lines at a density such that the planners will not plan through them but the localization algorithms do not de-localize.
- The local planner is almost fully functional. Currently it can do obstacle avoidance for the most part. We are still playing around with the padding values and the editing the maps. The actual path following is working perfectly. The path planning when it detects obstacles is a little rough. The cart does not know it cannot go backwards (despite our best efforts to make it understand that) and so it sometimes plans backwards routes. We have been tweaking parameters to eliminate its potential to go backwards.
- AMCL is fully function even under autonomous mode. Moving the handlers for the encoders to the second Due fixed the loss of data issue we were having.
Closed Loop Control
- It has been determined that the cart will absolutely need closed loop control in the micro controller as opposed to through the ROS system. This is being looked at as the main controls Due is currently controlling many things and seems to be bottle necking at around 50-60 Hz. The current main goal is to get an accurate motor velocity out of the motor shaft. This will allow the PID loop, which has been proven to work to control the velocity of the cart. From here ROS commands a velocity and the cart is responsible for following it as closely as possible.
Energy Monitoring System (EMS)
- With a more finalized version of the hardware nearing completion, the original template for the EMS was modified to use the proper pin-outs and hardware.
- Jian will take over the software development for the EMS, so Ryan can work with Billy and Gio.
- In between the last demo, individual parts of the circuits were tested, and they worked. On the advice of the lead Electrical Engineer, all the effort and focus was put into designing the PCB for the EMS.
- Upon working on the PCB, there were slight modifications, as well as extra components added onto the schematic.
Click here to see revised schematic.
- The new computer is completely installed and fully functional. The specifications are more than enough to meet our performance needs. See the updated BOM for the specific hardware installed.
- The majority of power and signal wires were replaced and rerouted. This was done in conjunction with the new computer installation. This mitigated the intermittent restarting issues.
Risks and Problem Tracking
- To see the status of tasks see the Status Updates in /public/Project Management/Schedule.
- The most recent Status Report can be found here.
- The most recent project schedule can be found here