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Skynet Path Planning Team Discussion: Winter Mode Management

This planning session focuses on Skynet's trajectory follower, state estimation, terrain analysis, and path planning architecture. Discussion includes sensor integration, speed limits, reactive path evaluation, and simulation environment updates.

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Skynet Path Planning Team Discussion: Winter Mode Management

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  1. Planning Team February 28th, 2005 Lars Cremean, Dima Kogan, Adam Craig, Joe Donovan, Jeremy Gillula, Haomiao Huang, Laura Lindzey, Alex Stewart, Jason Yosinski, Ben Pickett, Sue Ann Hong, Ryan Cable

  2. [edit] Discussion

  3. Embedded Relative to Winter W12 test Mode Management Path Planning Architecture/Status AS Trajectory Follower astate/skynet Terrain adrive (To All) State Estimation skynet Traj Steer, thr.,brake cmds.  [RoadFinding] Sensors SAH ? Static Data [StaticInformer] Speed limit  Gimbal cmds. (pitch, yaw) RC/HB For testing only HH RC RDDF Traj RDDF Path Gen. BP/JY DBS TSM skynetgui BP/JY CMap Mapping Modules JD Key AC [LadarFeeder] Traj  Local DEM Layer(s) (To All) Traj TSM = Traj. speed modification Traj checking AC [StereoFeeder]  DBS = “Speedsafety control” Reactive Path Evaluation/Selection DK Path Planning Conversion Owner Terrain cost/speed HELP! Needs work [RoadFinding] Road cost/speed Path Interface   Combined Speed JD Working Map updates [StaticFiller] Static cost/speed   Not yet HH HH Not ours RDDF Cost Update RDDF cost/speed Simulation Environment Vehicle Models BP/JY SkyNet msg. IG RT Map display Fri., 25 Feb. 2005

  4. Major Issues • Need brakes and steering in final configuration by W12. • Need front workstations installed, to facilitate testing. • Need sensors mounted by W9. • Need to know whether we will have stereovision yaw control. • Getting the planner to be fully functional and accurate. • Integrating separate modules – many interfaces are still red on the status charts. Fri., 25 Feb. 2005

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