{"id":453,"date":"2019-12-11T17:59:16","date_gmt":"2019-12-11T17:59:16","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/?page_id=453"},"modified":"2019-12-11T18:50:58","modified_gmt":"2019-12-11T18:50:58","slug":"motion-planning","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/motion-planning\/","title":{"rendered":"Motion Planning"},"content":{"rendered":"<p><strong>Fall 2019 Implementation<\/strong><\/p>\n<p><strong>Greedy Closest Next Goal Planning<\/strong><\/p>\n<p>Instead of solving a whole Travelling Salesman Problem, the planner plans a path to go to all litter locations based on local greedy searches. At any given time, it goes to the next nearest goal.<\/p>\n<p>The planning result as shown in Figure below<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-465\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/Screen-Shot-2019-12-11-at-1.07.28-PM-300x158.png\" alt=\"\" width=\"936\" height=\"493\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/Screen-Shot-2019-12-11-at-1.07.28-PM-300x158.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/Screen-Shot-2019-12-11-at-1.07.28-PM-768x404.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/Screen-Shot-2019-12-11-at-1.07.28-PM-1024x538.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/Screen-Shot-2019-12-11-at-1.07.28-PM-1200x631.png 1200w\" sizes=\"auto, (max-width: 709px) 85vw, (max-width: 909px) 67vw, (max-width: 1362px) 62vw, 840px\" \/><\/p>\n<p><strong>Local Coverage Planner<\/strong><\/p>\n<p>The UGV will create a coverage pattern around each of the cluster centers when it is time for the UGV to approach it. The coverage pattern is Zamboni like, to minimize the number of immediate turns the UGV does. The UGV will dynamically choose how many lanes the Zamboni needs to pick-up successfully collect the litter. The figure below shows a coverage pattern with 3 lanes, which means the variance was relatively low and we are relatively confident in the litter\u2019s location. The red dots represent cluster centers.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-large wp-image-426\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage-1024x623.png\" alt=\"\" width=\"840\" height=\"511\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage-1024x623.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage-300x183.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage-768x467.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage-1200x730.png 1200w, https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-content\/uploads\/sites\/36\/2019\/12\/coverage.png 1489w\" sizes=\"auto, (max-width: 709px) 85vw, (max-width: 909px) 67vw, (max-width: 1362px) 62vw, 840px\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Fall 2019 Implementation Greedy Closest Next Goal Planning Instead of solving a whole Travelling Salesman Problem, the planner plans a path to go to all litter locations based on local greedy searches. At any given time, it goes to the next nearest goal. The planning result as shown in Figure below Local Coverage Planner The &hellip; <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/motion-planning\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Motion Planning&#8221;<\/span><\/a><\/p>\n","protected":false},"author":162,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-453","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/pages\/453","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/users\/162"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/comments?post=453"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/pages\/453\/revisions"}],"predecessor-version":[{"id":475,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/pages\/453\/revisions\/475"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamf\/wp-json\/wp\/v2\/media?parent=453"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}