1 of 7

​

4 min presentation in DD2438

Group 14

Chloé Leyssens

Alexandra Papadopoulos

​

2 of 7

Overview of the plan

  • Use A* algorithm to compute shortest path from the grid
  • Smooth it
  • Remove points in straight lines
  • Follow the path with a PD_tracker
  • Try to implement the A* hybrid to improve the path

3 of 7

Avoiding obstacles

  • Before: Check that cells are free around the path
  • Improvement: Try to check the distance to surrounding obstacles

​

​

4 of 7

Drivable path

  • Before: Neighbours of a cell are the ones in front and front-diagonals
  • Improvement: Trying to implement the hybrid A* to get a smoother path

​

​

​

​

5 of 7

Drivable path (cont)

​

  • Before: Only straight lines
  • Improvement: smoothing with Catmull-Rom

​

​

​

​

6 of 7

Driving

  • Using PD-tracker to follow the cells of the path, going for the next cell when close enough the the previous one
  • Before: Following point to point
  • Improvement: skipping cells in straight lines

​

​

​

​

7 of 7

Progress Status Week 5

  • Comment to customer paying 250 000kr for the report:
    • “Progress is visible even if some small adjustments still need to be made. We are confident about finishing the project for next week.”
  • Planned Time spent: 50%
    • (Out of the combined 200h)
  • Actual Time spent: 45%
    • Out of the combined 200h
  • Actual Progress: 50%
    • (estimate progress towards completing assignment)
  • Risk of not completing assignment: 10%