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4 min presentation in DD2438

Group 7

Zehao Jiang and Sandra Tor

https://docs.google.com/presentation/d/1p5kkW9_enEBnCHrEu4yKxtE4Vj3BZVtbZnDwpBnWTyo/edit#slide=id.p

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From Previus Weeks

  • RRT
    • Bidirectional planning
    • Bias distribution towards goal
    • Worked on terrain A & C

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  • Driving & path:
    • Velocity control
    • Obstacle detection
    • Reorientation function
    • Obstacle handling for smoothed path

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Blue line: RRT exploration tree

Green line: RRT path from start tree

Yellow line: RRT path from goal tree

Red line: path after smoothing

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Improvements this Week

  • Path planning:
    • Improved time complexity & removed errors
    • Research about RRT*
    • Multiple paths → pick the shortest
    • Works on all 3 terrains!
  • Driving & path:
    • Improved obstacle detection
    • Flexible lookahead distance
    • Drone driving
    • Improved the use of raycasts

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Yellow line: path after smoothing

Red line: RRT path

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Performance on Terrain D & E

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Performance on Terrain D & E

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What would we have done differently?

If we had more time we would…

  • Started with the drone earlier
  • Planned for 3 weeks instead of 4

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  • Add weight to the paths;
  • Implement RRT*;
  • Improve random points choosing;
  • Better driving/flying controls;

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Progress Status Week 4

  • Comment to customer paying 200 000kr for the report:
    • “We now have a working model.”
  • Planned Time spent: 75%
  • Actual Time spent: 65%
    • Out of the combined 200h
  • Actual Progress: 75%
  • Risk of not completing assignment: 1%