Difference between revisions of "Navigation system for LURCH"
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StefanoConti (Talk | contribs) (New page: == '''Part 1: project profile''' == === Project name === [TODO]: an improved navigation system for LURCH - The autonomous wheelchair === Project short description === This project ...) |
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This project aims to improve the LURCH navigation system in two main feature: | This project aims to improve the LURCH navigation system in two main feature: | ||
| − | + | * '''Reduce the cost of the replanning''': When LURCH find an obstacle in its way it has to find a new path to reach the goal. Unfortunately the current planning method is a time expansive task as it recalculates the entire path. Instead of recalculating a new path the new planning system should provide a mechanism that give the opportunity to reach and follow am alternative previously computed route. | |
| − | + | * '''Produce a smoother path''': when the planner calculates a path, it produces a series of waypoint that LURCH should pass, to reach the goal. The path produced is often too sharp and rough and the wheelchair needs to stop in order to change its direction. The target here it's to provide a system to choose when to ignore the current waypoint and head to the next one. | |
| Line 16: | Line 16: | ||
Matteo Matteucci - [[User:MatteoMatteucci]] | Matteo Matteucci - [[User:MatteoMatteucci]] | ||
| + | |||
Simone Ceriani - [[User:SimoneCeriani]] | Simone Ceriani - [[User:SimoneCeriani]] | ||
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Gianluca Duca - [[User:GianlucaDuca]] | Gianluca Duca - [[User:GianlucaDuca]] | ||
| + | |||
Stefano Conti - [[User:StefanoConti]] | Stefano Conti - [[User:StefanoConti]] | ||
Revision as of 15:35, 2 December 2009
Contents
Part 1: project profile
Project name
[TODO]: an improved navigation system for LURCH - The autonomous wheelchair
Project short description
This project aims to improve the LURCH navigation system in two main feature:
- Reduce the cost of the replanning: When LURCH find an obstacle in its way it has to find a new path to reach the goal. Unfortunately the current planning method is a time expansive task as it recalculates the entire path. Instead of recalculating a new path the new planning system should provide a mechanism that give the opportunity to reach and follow am alternative previously computed route.
- Produce a smoother path: when the planner calculates a path, it produces a series of waypoint that LURCH should pass, to reach the goal. The path produced is often too sharp and rough and the wheelchair needs to stop in order to change its direction. The target here it's to provide a system to choose when to ignore the current waypoint and head to the next one.
People involved
Matteo Matteucci - User:MatteoMatteucci
Simone Ceriani - User:SimoneCeriani
Project head(s)
Prof. Matteo Matteucci - User:MatteoMatteucci
Students currently working on the project
Gianluca Duca - User:GianlucaDuca
Stefano Conti - User:StefanoConti
