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4 min presentation in DD2438

Group 2:2

Josef Lindkvist and Arnau Casas Saez

https://docs.google.com/presentation/d/1xIr7reqGNqfnxZYPrjLBm0tCAnRB3Yd0GFFXuhGUvVQ/edit?usp=sharing

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Problem 1 & 2

Car and Drone collision avoidance

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Go back to regular A*

  • Problem 1: Hybrid A* gave bad velocities and times for the car and drone
  • Problem 2: Resulting path was not expected with nodes time reservation for other rounds
  • Solution 1: A* with heuristic velocities (it worked better in Assignment 1)
  • Solution 2: Reserve the node all way into a direction + allow similar directions

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A* rounds

  • First round -> best path
  • Reserve most used directions for next rounds
  • Try to see how it converges
  • More rounds!

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Drone Controller

  • PD controller from group 4 adapting from visibility graph A* to GridMap A*

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Car Controller

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  • Added a collision detector
    • Proportional navigation
      • If Collision detected -> Let the car with
      • highest priority pass first. (from second Astar)
        • need to refine our priority calculations
      • Rectangle area instead of cone

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Problem 3 & 4

Car and Drone formation

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Grid with A*

  • Added door points + edges
  • A* from door to door
  • Adjust nodes so they avoid other car paths

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PD Controller

Drone

Car

  • Same as Group 1:4
  • Modified to adapt velocity to stay in formation
  • Same as Group 1:18
  • Modified to soften navigation

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Our plan to optimize formation

We keep track of each car’s distance to the next gate.

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👑

The car with the longest distance left to the next gate becomes king. Updated sequentially.

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The other cars then “waits” for the king car until they have the same distance to the gate as the king. Then keeping that distance until they pass the gate.

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The other cars then “waits” for the king car until they have the same distance to the gate as the king. Then keeping that distance until they pass the gate.

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Progress Status Week 9

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  • Planned Time spent: 50%
    • (Out of the combined 200h)
  • Actual Time spent: 51%
    • Out of the combined 200h
  • Actual Progress: 50%
    • (estimate progress towards completing assignment)
  • Risk of not completing assignment: 4%