P18241: Autonomous People Mover V

Customer Handoff & Final Project Documentation

Table of Contents

Team Vision for Final Demo and Handoff

Test Results Summary

Inputs & Source


The highest priority test plans were obstacle stopping distance, obstacle avoidance distance and smooth software controlled navigation. The specifications for a safe stopping distance were not met. This means that while the cart does stop before hitting an obstacle, the brake actuator is not quick enough to stop the cart before getting too close. The cart did not collide with any obstacles during the demonstration, but the final distance between the stopped cart and the obstacle was smaller than desired. The software controlled navigation system was implemented using an artificial potential field method. This meant that any obstacle visible to the cart created a force acting on the cart restricting its movement in that direction. With enough obstacles this meant that the cart would seek out areas with the most free space. This also means that the cart can be guided through a testing enviornment simply by walking alongside it and repelling it from driving in the wrong direction.

Risk and Problem Tracking

Final Project Documentation

Plans for Wrap-up

Current State

Suggested Future Work

Throughout working on the APM, several issues were brought up that future groups should look at resolving and implementing:

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