Team Name: Domo ArigatoTeam Name: Domo Arigato

Robot Name: Chipotle 1Robot Name: Chipotle 1

Team Members:Jason DiSalvoBrian Eckerly

Arun RajmohanNeal Mehan

Keun Young Jang

AccomplishedAccomplished

► Week 1, 2 & 3Week 1, 2 & 3

familiarized with Linux, player and overall familiarized with Linux, player and overall understandingunderstanding

► Week 4, 5 & 6Week 4, 5 & 6

Familiarized with C++ coding for specific AlgorithmsFamiliarized with C++ coding for specific Algorithms

Sensor - waypoint followingSensor - waypoint following

Control - obstacle avoidanceControl - obstacle avoidance

AccomplishedAccomplished

► Week 7, 8 & 9Week 7, 8 & 9

Design of Lane changes, Intersections and CurveDesign of Lane changes, Intersections and Curve

► Week 10Week 10

Integration of separated design codes and Integration of separated design codes and simulation of all the possible scenarios simulation of all the possible scenarios

Waypoint FollowingWaypoint Following

Init Functions,

Read WPs

Calculate IWP

Store Current Target

Set Flag

Travel To Target

Reached Target?

False

True

Next WP

IWP CalculationIWP Calculation

Obstacle AvoidanceObstacle Avoidance

►Stop and WaitStop and Wait►Lane SwappingLane Swapping►Lookahead Distance and AngleLookahead Distance and Angle►Object TrackingObject Tracking

Stop and WaitStop and Wait

► First step in obstacle avoidance will be to stop when First step in obstacle avoidance will be to stop when an obstacle is too close for comfort.an obstacle is too close for comfort.

► Wait a fixed period of time.Wait a fixed period of time.► Is the object still there? (If it is a car, it might have Is the object still there? (If it is a car, it might have

moved out of the way already.)moved out of the way already.)► If obstacle is gone after wait time, continue If obstacle is gone after wait time, continue

following waypoints.following waypoints.► If obstacle is still present, a more complicated If obstacle is still present, a more complicated

approach needs to be taken.approach needs to be taken.

Lane SwappingLane Swapping►We are assuming that the robot is not We are assuming that the robot is not

allowed to drive off the road.allowed to drive off the road.► In real life, if something is blocking both In real life, if something is blocking both

lanes, cars usually wait indefinitely.lanes, cars usually wait indefinitely.►We are also assuming that if one lane is We are also assuming that if one lane is

blocked, the other isn’t.blocked, the other isn’t.►Obstacle avoidance is accomplished by Obstacle avoidance is accomplished by

switching to the waypoint array of the switching to the waypoint array of the other lane.other lane.

Lookahead Distance and Lookahead Distance and AngleAngle

Object TrackingObject Tracking

►Didn’t accomplish, but would have Didn’t accomplish, but would have been nice.been nice.

► Ideal way of making sure intersection Ideal way of making sure intersection is clear.is clear.

►Algorithm would be fairly complicated, Algorithm would be fairly complicated, not enough time to implement.not enough time to implement.

Network Definition Network Definition

► Parsing of file Parsing of file

- Uses # as a delimiter- Uses # as a delimiter

- Completely functionalized- Completely functionalized

- Outputs 2 arrays- Outputs 2 arrays

- Way Point & Nodal- Way Point & Nodal

Way Point ArrayWay Point Array

► What this tells us and how its usedWhat this tells us and how its used

- Output from the network definition- Output from the network definition

Link # Lane # # WP WP 1 (N) WP 1 (E) WP 2 (N) WP 2 (E)

Nodal ArrayNodal Array

► What this tells us and how What this tells us and how its usedits used

- Output from the network - Output from the network definitiondefinition

Node # # of Links Entering Link # SS flag

Node # # of Links Exit Link #

Mission FileMission File► What this tells us and how its usedWhat this tells us and how its used► The link numbers are held in the links to travel The link numbers are held in the links to travel

arrayarray

Intersection Stop Sign Intersection Stop Sign HandlingHandling► Search way point array for the current way pointSearch way point array for the current way point

► Check if at end of link i.e next value of array is 999Check if at end of link i.e next value of array is 999► If at end of link end of link function called and passed If at end of link end of link function called and passed

the link numberthe link number► Search the nodal array for the link number only even Search the nodal array for the link number only even

numbers need to be check because those are the numbers need to be check because those are the entering linksentering links

► When the link number is found the next index is When the link number is found the next index is checked for the stop sign flag: 1=stop sign 0=no stop checked for the stop sign flag: 1=stop sign 0=no stop signsign

Stop Sign EncounteredStop Sign Encountered► If a stop sign is encountered the nodal array is then If a stop sign is encountered the nodal array is then

searched again for the other possible entering linkssearched again for the other possible entering links► The Lidar then checks these links to see if an object is The Lidar then checks these links to see if an object is

at these locationsat these locations► If there is an object the motor state remains 0 and the If there is an object the motor state remains 0 and the

robot won’t move until the other links are clearrobot won’t move until the other links are clear

Final RunFinal Run

►Problems EncounteredProblems Encountered

Questions?Questions?

THE ENDTHE END