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Milestone Five

The D* Lite implementation is complete with new features like dimension orientation. The milestone marks speed and accuracy improvements for line detection and obstacle identification. Next steps involve sim testing and motion planner integration.

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Milestone Five

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  1. Milestone Five Florida Tech IGVC

  2. Milestone 5 Matrix

  3. Navigation & GUI • D* Lite implementation complete • Dimension concerning orientation added • Significant speed and accuracy improvement • Next Steps: • Short sim for testing • Interface for incoming lines and obstacles • Live testing

  4. Line Detection • Line detection on course-like conditions functional • Some issues with half-sun, half-shade images • Able to see obstacles • Polarizing film reduces glare significantly • Next steps • Converting lines into format understandable by motion planner • Working with half and half images • Potentially working on obstacle detection

  5. Line Detection Video

  6. Communication • Interface for ROS written • C++ components cleaned up • Next Steps • Get FSU to post their code • Write unit for LiDAR

  7. Integration & Testing • Still developing code • Integration with ROS tested • FSU not allowed to send LiDAR • Robot not shipped • Next steps • Get the robot • Write short sim for motion planner

  8. Position • INS ROS node operational • Robot localization taking encoder values and GPS data • Potentially use triangulation within the motion planner or using the LiDAR to get absolute position • Next steps • FSU is benchmarking the INS • Begin looking at triangulation / trilateration

  9. Milestone 6 Matrix

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