Main Page | Recent changes | Edit this page | Page history Printable version | Disclaimers | Privacy policy

Not logged in Log in | Help

Navigation team Timeline

From DGC Wiki

BACK

Contents [hide] 1 Summer 2007 1.1 Spiral 0 1.1.1 Objective 1.1.2 Tasks 1.2 Spiral 1 1.2.1 Objectives: 1.2.2 Tasks: 2 Previous Timelines

Summer 2007

Spiral 0

6/18-7/8

Objective

• Update/finalize planning architecture, planner modularity, coding standards
• Formulate and implement unit tests for the different modules
• Improvements to existing functionality (debugging tools, map functions update, revisit decisions).
• Reduce dependency on proprietary code

Tasks

• Discuss and finalize the navigation architecture - NdT, Sven, IPT
• Create CSpecs (Corridor Specs) to replace OCPSpecs (Optimal Control Problem Specs) to reduce proprietory code dependence - Stefano?, Melvin?
• Create pplanner - JWB, Kenny, Nok, Noel
  • new graph search - JWB, Noel
  • new basis functions - Kenny, JWB
  • CSS implementation - Nok, Noel
• Follow revamp - Kris, Magnus
  • Characterize performance
  • Design new controllers
• Unit tests - Sven, Vanessa?
• Improvements to tplanner
  • Code clean up (warnings, etc.) - Christian
  • Logging - Sven (DONE)
  • Console - Sven (DONE)
  • Mapping functions update - Francisco
  • Goal complete check - Sven/NdT
  • Lane change corridor update - Francisco
  • Turn signals @ lane change update - DONE
  • Multi-lane operation - ??
  • Update to use commandline arguments - Sven (DONE)
  • Change Traffic State Estimation to not depend on SegGoals anymore, but only use geometric information - ??

Spiral 1

7/9 -- 8/4

Objectives:

Safe and robust navigation (A-x, C-x) and basic traffic (B-x) with sensor failures

Tasks:

Existing functionality:

• Update planning architecture - Sven
• Update functionality (A-x, B-x)
  • tplanner
    • Update/implement map functions to get the info we need (Lane change, Uturn) - Francisco
    • Refine logic by explicitly dealing with uncertainty, free space, etc.
      • Static: lane change, static obstacle, free space, uncertainty handling - Sven
      • Dynamic: intersection handling, passing safety check - Christian
  • pplanner
    • Separation distances for pplanner and corridor checking - Noel/JWB
    • Refine path planning capability - Magnus, JWB
  • Refine follower capabilities - Kristian

New functionality:

• tplanner
  • Non-stopping (right of way, ROW) intersection handling
    • Update state machine - Sven
    • merging safety check - Christian
    • Left turns (across oncoming traffic lanes) - Christian
  • Zone operations
    • Update state machine - Sven
    • Zone boundary representation - Francisco, Sam
• Path planning - Magnus
  • Dynamic obstacle handling
  • Zone planning (pplanner)
  • Parking maneuver planning
  • Safe operations with other vehicles
• Mission adjustment based on sensor health - Nok?
• Nominal (expected) failures handling in planner stack - Vanessa
  • route planner - Nok
  • tplanner - Vanessa
  • pplanner - Magnus
  • follower - Kristian
  • gcdrive - Josh O.
• Set up unit tests - Vanessa
• Tell PTU what we are interested in - Kristian
  • Communication channels
  • Representation
  • Determination/implementation
• Prediction - Christian, Noel
  • incorporate with dynamic safety checks (at tplanner level)
  • incorporate with path planning (at path planner level)

Previous Timelines

Navigation team Winter 2007 Timeline
Navigation team Spring 2007 Timeline

Edit this page | Discuss this page | Page history | What links here | Related changes Main Page | About DGC Wiki | Recent changes |   This page has been accessed 89 times. This page was last modified 18:25, 28 June 2007 by Noel duToit.