Obstacle Avoidance (planned for F24 Co-op)

Owned by Andrew Shum
Last updated: 2024-08-26
1 min read

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

Calendar:

Week #

Milestone

Weekly Task

Notes

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:

  • Bendy Ruler

  • Vector Field Histogram

  • Artificial Potential Fields

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:

  • Proportional

  • Pure pursuit

  • Reactive

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

 

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