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4 min presentation in DD2438

Group 16

Farouk Miled and Rantao Dong

https://docs.google.com/presentation/d/1AEhrvdoOA-Nr_5EoMbjozHjY8whdiub3kXRUeMwCLQE/edit?usp=sharing

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Overview of our plan so far...

  • Use A* algorithm
  • Use pure pursuit (Rantao)
  • Use Collision avoidance (sensors on the car with Raycast).
  • Have completed all five terrains

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Overview of our plan so far...

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Overview of our plan so far...

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Details of our approach

  • Improvement of A* (to avoid possible collisions):

Inflate obstacles

but the inflation radius can not be too large, or some narrow ways may be considered as blocked

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Details of our approach

  • Improvement of A* (to avoid possible collisions):

Inflate obstacles + ‘obstacle penalty’

Original A*: F = G + H (for H we use Manhattan distance)

Our improvement: F = G + H + ‘Obstacle Penalty’

Obstacle Penalty: closer to the obstacles

→ higher penalty

→ higher F value

→ the final path will be more distant from the obstacles

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Details of our approach

  • Pure Pursuit:

Steering: lager angle to the target point, larger steering

Acceleration: more distant from the target point, larger acceleration

& larger steering, smaller acceleration (slow down at corners to avoid collisions)

  • Collision avoidance with Raycast :

Steering : adjusted depending on which sensors are activated.

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Problems and plan for next week

  • The algorithm is not robust enough

Search for some papers to get more ideas

Use sensors to avoid obstacles

  • The car is not fast enough

Try to adjust parameters

Try different tracking methods

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Problems and plan for next week

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  • The collision avoidance is unstable.

Work on smoothing the path and the steering.

  • Sensitivity to the sensor length or range.

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Progress Status Week 5

  • Comment to customer paying 250 000kr for the report:
    • “All is well. We have spent a bit more time than planned, and progress is as expected”
  • Planned Time spent: 50%
    • (Out of the combined 200h)
  • Actual Time spent: 50%
    • Out of the combined 200h
  • Actual Progress: 40%
    • (estimate progress towards completing assignment)
  • Risk of not completing assignment: 3%