When we get the laser scanner this will be worked on more heavily.
For this basic test, we need to be able to see if an obstacle is in our field of view (FOV). If there is, choose the path to the right or left that will be longer (i.e. safer). Once the obstacle is passed we need to be able to return to the original course; for a first implementation, let's just go into an obstacle avoidance mode and then constantly try to recouple to the path. Only recouple to the path if the FOV along the proposed heading is safe.
Requirements:
We need to find an FOV that will 'fit' the robot's width. It needs to be as small as possible to avoid ancillary obstacles that are not in the path, while being large enough for the robot to drive through at a certain distance
We need to find/set a reasonable reaction distance for avoiding collisions. This distance will need to be velocity dependent and may factor into FOV choice
When we get the laser scanner this will be worked on more heavily.
For this basic test, we need to be able to see if an obstacle is in our field of view (FOV). If there is, choose the path to the right or left that will be longer (i.e. safer). Once the obstacle is passed we need to be able to return to the original course; for a first implementation, let's just go into an obstacle avoidance mode and then constantly try to recouple to the path. Only recouple to the path if the FOV along the proposed heading is safe.
Requirements: