Obstacle avoidance milestones:
- Onboarding and Autonomy Bootcamp
- Replicate the flight interface module
- Research and choose a path-deflection algorithm
- Collect sample LiDAR data with obstacles from a flight test
- Implement path deflection algorithm
- Test obstacle avoidance in simulation
- Test obstacle avoidance in flight test
- Research assistive obstacle avoidance algorithms
- Implement assistive avoidance algorithm
- Test assistive avoidance in manual mode
Weekly Milestones
Week # | Milestone | Weekly Task | Notes |
|---|---|---|---|
1: Sept 3 | Milestone 1 | Bootcamp | Goal: Understand WARG autonomy software workflow |
2: Sept 9 | Milestone 2 | Replicate flight interface module | Goal: Familiarize with WARG’s obstacle avoidance repo and how it works |
3: Sept 16 | Milestone 3 | Research path deflection algorithms | Potential Algorithms:
|
4: Sept 23 | Algorithm design | Goal: Develop a thoroughly designed algorithm that uses 2D LiDAR data | |
5: Sept 30 | Milestone 4 | Collect LiDAR data for simulations | Goal: Design multiple scenarios that need to be considered for obstacle avoidance |
6: Oct 7 | Milestone 5 | Start implementing algorithm | |
7: Oct 14 | Continue implementation | ||
8: Oct 21 | Milestone 6 & 7 | Test algorithm | Goal: Design a comprehensive flight test to observe functionality |
9: Oct 28 | Make improvements and fine tune algorithm | Goal: Identify shortcomings in algorithm observed from flight test and propose ways to improve | |
10: Nov 4 | Test algorithm again | ||
11: Nov 11 | Milestone 8 | Research assistive obstacle avoidance algorithms | Potential Algorithms:
|
12: Nov 18 | Milestone 9 | Decide and implement assistive avoidance algorithm | |
13: Nov 25 | Milestone 10 | Test assistive avoidance in manual mode | |
14: Dec 2 | TBD | ||
15: Dec 9 | TBD | ||
16: Dec 16 | Offboarding |