On Sunday we tested a new trajectory follower which is based on a value-function. The pose estimator was tested integrating all sensors including GPS, IMU, and car odametery.
The video production team is working on a promotion video of little ben performing an autonomous run which will display our GUI to the brains of the car.
Thursday, January 18, 2007
Friday, January 5, 2007
Driving by the RNDF
Jim, Alex K., Heeten and I went to the Boeing lot with the Prius for
the first time on Sunday. Our objective was mainly to get acquainted
with the site, but we also took the opportunity to do some more
testing of the trajectory-following code and a simple RNDF. We
enabled the
trajectory follower's throttle control for the first time, since we weren't
willing to risk it in the smaller lot. Everything was pretty successful,
though the controller gains still need a lot of tuning. We were able
to follow some pretty interesting trajectories, including one based on
an RNDF we also built for the site.
the first time on Sunday. Our objective was mainly to get acquainted
with the site, but we also took the opportunity to do some more
testing of the trajectory-following code and a simple RNDF. We
enabled the
trajectory follower's throttle control for the first time, since we weren't
willing to risk it in the smaller lot. Everything was pretty successful,
though the controller gains still need a lot of tuning. We were able
to follow some pretty interesting trajectories, including one based on
an RNDF we also built for the site.
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