Navigation system for LURCH - Revision history

StefanoConti: /* Project short description */

2009-12-02T14:42:19Z

‎Project short description

StefanoConti: /* Project short description */

2009-12-02T14:40:38Z

‎Project short description

StefanoConti: /* Project head(s) */

2009-12-02T14:39:59Z

‎Project head(s)

StefanoConti: /* People involved */

2009-12-02T14:39:27Z

‎People involved

StefanoConti: /* People involved */

2009-12-02T14:38:29Z

‎People involved

StefanoConti at 14:36, 2 December 2009

2009-12-02T14:36:39Z

StefanoConti at 14:35, 2 December 2009

2009-12-02T14:35:33Z

StefanoConti: New page: == '''Part 1: project profile''' == === Project name === [TODO]: an improved navigation system for LURCH - The autonomous wheelchair === Project short description === This project ...

2009-12-02T14:34:16Z

New page: == '''Part 1: project profile''' == === Project name === [TODO]: an improved navigation system for LURCH - The autonomous wheelchair === Project short description === This project ...

New page

== '''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]]

@@ Line 9: / Line 9: @@
 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 always 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.
+* '''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 decide when to ignore the current waypoint and head to the next one.
 === People involved ===

@@ Line 8: / Line 8: @@
 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.
+* '''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 always 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 ===

@@ Line 21: / Line 21: @@
 ===== Project head(s) =====
-Prof. [[User:MatteoMatteucci]|Matteo Matteucci]
+Prof. [[User:MatteoMatteucci|Matteo Matteucci]]
-−
 ===== Students currently working on the project =====

@@ Line 15: / Line 15: @@
 === People involved ===
-[[User:MatteoMatteucci]|Matteo Matteucci]
+[[User:MatteoMatteucci|Matteo Matteucci]]
-[[User:SimoneCeriani]|Simone Ceriani]
+[[User:SimoneCeriani|Simone Ceriani]]
 ===== Project head(s) =====
@@ Line 26: / Line 26: @@
 ===== Students currently working on the project =====
-[[User:GianlucaDuca]|Gianluca Duca]
+[[User:GianlucaDuca|Gianluca Duca]]
-[[User:StefanoConti]|Stefano Conti]
+[[User:StefanoConti|Stefano Conti]]

@@ Line 3: / Line 3: @@
 === Project name ===
-[TODO]: an improved navigation system for [[LURCH - The autonomous wheelchair]]
+[NOME]: an improved navigation system for [[LURCH - The autonomous wheelchair]]
 === Project short description ===