Page Comparison

1

May 6

Milestone 1

Bootcamp

• Go through documentation on multiprocessing

2

May 13

Milestone 2

LiDAR testing and visualization

• Read output from LiDAR

• Create a 2D map from LiDAR data

• Indicate if an object is too close (within a certain bound)

3

May 20

Flight Interface

• Good starter task, architecture will be very similar to airside’s flight interface worker

• Gets telemetry data and constantly updates the current state of the drone

*Note: comp week

4

May 27

Detection and Decision

Detection (doesn’t have to have a class, depending on how complex the

LiDAR is)

• Worker constantly scan with the

• LiDAR and creates data struct

• Passes data struct into output queue

Decision

• Takes

• LiDAR data and decides whether or not the drone should stop

• If it should, passes command to output queue

• If stopped, decide if it should go back to the mission

5

Jun 3

Milestone 3

Commands with Flight Interface

• Add input queue to handle Detection Worker output

• Reads from queue and calls upload command to stop the drone, or return the drone to the mission

6

Jun 10

Research Deflection Algos

Potential Algorithms:

• Bendy Ruler

• Vector Field Histogram

• Artificial Potential Fields

7

Jun 17

Continue Research

8

Jun 24

Milestone 4

Decide on

and

implement

algo

• Depending on the algorithm the architecture will be pretty different

• At this point, halfway through the term, the co-op has done several tasks and should have an idea of how we do system design

• I want them to start designing the architecture themself and the milestones become less structured

* Note: midterm evaluations

9

Jul 1

Continue algo implementation

10

Jul 8

Milestone 5

Test algo

11

Jul 15

Simple stopping in manual mode

• Go into loiter mode if we’re going to crash

• Based on velocity, direction, and detected objects

12

Jul 22

Milestone 6

Test stopping

13

Jul 29

Research assistive

avoidance

Potential Algorithms:

• Proportional

• Pure pursuit

• Reactive

14

Aug 5

Implement algo

15

Aug 12

Continue algo implementation

16

Aug 19

Milestone 7

Test assistive method and off boarding