Here are our notes, please email along to
team-students or team-software if appropriate.

BTW, I recommend against trying to do anything with
the sensor pod at this point...Given that the output
is analog, and you need to get so much more equipment
into the truck and mounted (power supplies, data
acquisition hardware), and there setup uses Labview,
etc, etc...it just seems unlikely to get done in time.
 Would be great for following year.


GOALS

Deliver a working LADAR system to help guide Bob for
at least 10 hours through the DGC course.

OBJECTIVES

Determine cause of failure of broken LADAR unit

Detect obstacles of size > x, where x is determined
with input from the vehicle team (ie, what can we
safely drive over?)

Generate data at x fps, where x is determined with
input from the vehicle and planning teams.

Determine how far ahead we want to look, and from this
determine mounting angles, resolution, etc.

Thoroughly test the reliability of the mountings,
cables, etc w/ help from the vehicle team.

Get LADAR code in tests/WaypointNav working with MTA

TECHNICAL CHALLENGES

Determine size of obstacle we can reliably detect

Determine how quickly we can receive scans, using
existing and setup and with high speed serial ports.

Integrate LADAR data with state data to create map
data

Gracefully handle LADAR failure

Determine how to calibrate LADAR (how to reliably
measure actual mounting angle, location, etc)

APPROACH

Using a custom device driver to interface with LADAR
units.

Using a bumper LADAR along with an LMS 220-221
roof-mounted LADAR

Using a generic map class and path evaluation routines
to generate votes which will be sent to the arbiter
via MTA






TIMELINE

1/12 - 1/17
Get code in tests/WaypointNav working, with MTA
log all ladar data taken during tests (+ state data)
so we can work on software offline
Possibly work with vehicle team to get new LADAR unit
mounted in bumper position
Develop a 1-page white paper including desired
mounting angle, resolution, ranges, etc.

1/18 test all of above at El Mirage

1/19 - 1/31
Determine cause of failure of broken LADAR
mount LADAR on roof, get it acquiring data
Integrate LADAR data with state data
Generate map data
Generate votes using path eval routines

2/1 test all of above at Santa Anita

2/2 -

Gracefully handle LADAR failure
Determine if high speed serial ports needed
Continue reliability testing