1. Team Name: Domo Arigato Robot Name: Chipotle 1 Team Members: Jason DiSalvo Brian Eckerly Arun Rajmohan Neal Mehan Keun Young Jang

2. Accomplished ► Week 1, 2 & 3 familiarized with Linux, player and overall understanding ► Week 4, 5 & 6 Familiarized with C++ coding for specific Algorithms Sensor - waypoint following Control - obstacle avoidance

3. Accomplished ► Week 7, 8 & 9 Design of Lane changes, Intersections and Curve ► Week 10 Integration of separated design codes and simulation of all the possible scenarios

4. Waypoint Following Init Functions, Read WPs Calculate IWP Store Current Target Set Flag Travel To Target Reached Target? False True Next WP

5. IWP Calculation

6. Obstacle Avoidance ► Stop and Wait ► Lane Swapping ► Lookahead Distance and Angle ► Object Tracking

7. Stop and Wait ► First step in obstacle avoidance will be to stop when an obstacle is too close for comfort. ► Wait a fixed period of time. ► Is the object still there? (If it is a car, it might have moved out of the way already.) ► If obstacle is gone after wait time, continue following waypoints. ► If obstacle is still present, a more complicated approach needs to be taken.

8. Lane Swapping ► We are assuming that the robot is not allowed to drive off the road. ► In real life, if something is blocking both lanes, cars usually wait indefinitely. ► We are also assuming that if one lane is blocked, the other isn’t. ► Obstacle avoidance is accomplished by switching to the waypoint array of the other lane.

9. Lookahead Distance and Angle

10. Object Tracking ► Didn’t accomplish, but would have been nice. ► Ideal way of making sure intersection is clear. ► Algorithm would be fairly complicated, not enough time to implement.

11. Network Definition ► Parsing of file - Uses # as a delimiter - Completely functionalized - Outputs 2 arrays - Way Point & Nodal

12. Way Point Array ► What this tells us and how its used - Output from the network definition - Output from the network definition Link #Lane ## WPWP 1 (N)WP 1 (E)WP 2 (N)WP 2 (E)

13. Nodal Array ► What this tells us and how its used - Output from the network definition - Output from the network definition Node # # of LinksEntering Link #SS flag Node ## of LinksExit Link #

14. Mission File ► What this tells us and how its used ► The link numbers are held in the links to travel array

15. Intersection Stop Sign Handling ► Search way point array for the current way point ► Check if at end of link i.e next value of array is 999 ► If at end of link end of link function called and passed the link number ► Search the nodal array for the link number only even numbers need to be check because those are the entering links ► When the link number is found the next index is checked for the stop sign flag: 1=stop sign 0=no stop sign

16. Stop Sign Encountered ► If a stop sign is encountered the nodal array is then searched again for the other possible entering links ► The Lidar then checks these links to see if an object is at these locations ► If there is an object the motor state remains 0 and the robot won’t move until the other links are clear

17. Final Run ► Problems Encountered

18. Questions?

19. THE END