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4 min presentation in DD2438

Group 1:3

Emil Wiktorsson, Arka Pal

https://docs.google.com/presentation/d/1u_quW71wG0BDNOBaHU5H4bl4_QuLSSX-v_nWgWTOAGY/edit?usp=sharing

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Base Idea:

  • Use Hybrid A*
    • Using a Bicycle model to approximate steering
    • We are currently troubleshooting our implementation
  • Limit the speed at tight turns
  • Thinking we will use the PD controller
  • Extend the obstacles (This is done)
  • How to handle “getting of track”
    • Using raytracing in some way would be interesting!

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Speed Profiling

By driving at a known constant circle (and hence known curvature), and then noting the speed at which skidding starts, we can find the constant

To detect skidding:

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Find the vehicle slip angle (Angle between velocity and heading direction of the car and compare with some threshold.

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Experiments

Radius(m)

Speed(km/h)

Friction coefficient

15

24

0.3023

8

16

0.2620

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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: 34%
    • Out of the combined 200h
  • Actual Progress: 40%
    • (estimate progress towards completing assignment)
  • Risk of not completing assignment: 5%

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