Indoor 3D-Sensor Based Navigation

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).

Week 1 (4th Period)

António Morais and Tiago Teixeira
4th Period - Weekly Progress

2D Path Planning/Guidance During Week 7 (3rd Period), the first of two main tasks for 2D Path Planning/Guidance was completed.

Week 7 (3rd Period)

António Morais, Catarina Caramalho, João Pinheiro and Tiago Teixeira
3rd Period - Weekly Progress

3D Mapping → LIO-SAM During this week, the team delved into testing the LIO-SAM algorithm, but a problem arose from the need for synchronization of the Inertial Measurement Unit (IMU) and LiDAR.

Week 6 (3rd Period)

Catarina Caramalho and Tiago Teixeira
3rd Period - Weekly Progress

3D Localization When trying to simulate both algorithms, the students faced two problems.

Week 5 (3rd Period)

António Morais, Catarina Caramalho and Tiago Teixeira
3rd Period - Weekly Progress

3D Mapping → A-LOAM This week, the team collected real data from the robot’s Ouster LiDAR to conduct testing with A-LOAM .