João Carranca

Responsible for 2D Path Planning and Guidance. My work involves adapting an existing ROS Node to dynamically consider the robot’s height and footprint when converting the Ouster point cloud into obstacles on a 2D map.

Week 6 (4th Period)

António Morais and João Carranca
4th Period - Weekly Progress

Final Tests Final tests on the robot continued despite TIAGo’s torso issues, which heavily limit the amount of testing time each day.

Week 4 (4th Period)

João Carranca, Catarina Caramalho and João Pinheiro
4th Period - Weekly Progress

2D Path Planning/Guidance This week, testing with the real robot in a real environment commenced to assess the replication of simulation results in the physical world.

Week 2 (4th Period)

António Morais, João Carranca and João Pinheiro
4th Period - Weekly Progress

3D Mapping → LIO-SAM Following last week’s advancements, the algorithm still requires parameters representing the transformation of the LiDAR-IMU system (inertial measurement unit).