Jessi - Revision history

Cli651: /* Competitions */

2022-03-31T00:55:37Z

‎Competitions

2019-09-10T02:04:40Z

2019-09-10T02:02:22Z

2019-07-03T22:01:25Z

2019-06-30T22:59:07Z

2019-06-30T22:50:34Z

‎Versions

2019-06-30T22:49:53Z

2019-06-30T22:48:59Z

2019-06-30T22:46:41Z

2019-06-30T22:46:34Z

‎IGVC 2018

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 ** Distance: 5 ft
 ** Design Competition Placement: 2nd (401.33 / 480 points in finalist round; 1299/1400 points in group stages)
-** AutoNav Competition Placement:
+** AutoNav Competition Placement: 4th
 === IGVC 2019 ===
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 ** Distance: 16 ft
 ** Design Competition Placement: 1st
-** AutoNav Competition Placement:
+** AutoNav Competition Placement: 3rd
 = Versions =

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 Image:jessiifordtour.jpg | Jessii team on a Ford tour
 Image:jessiidesignpresentation.jpg | Jessii team giving design presentation
 </gallery>
 [[Category:IGVC]]

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 {{Infobox IGVC
 | robot_name        = Jessi
-| image_path        = Jessi.png
+| image_path        = Jessii.jpg
-| image_alt_text    = Jessi alt text
+| image_alt_text    = Jessii alt text
 | year_start        = 2017
 | year_end          = 2018

@@ Line 59: / Line 59: @@
 *Custom Computer and Improved Sensors
 **To improve computational capabilities and performance we upgraded our computer and other sensors
-***Intel i7-8700K 3.7GHz 6 Core Processor, Nvidia GTX 1060 GPU, 32GB RAM
+***Intel i7-8700 3.2GHz 6 Core Processor, Nvidia GTX 1060 GPU, 32GB RAM
 ****GPU was chosen for CUDA support
 ****Hotswap capability was brought using a PCB though not implemented before competition

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-=== Mechanical Design & Improvements ===
+=== Mechanical Design & Issues ===
-=== Electrical Design & Improvements ===
+=== Electrical Design & Issues ===
 [[Image:IGVC Electrical Overview.png | 300px | thumb | Jessi Electrical Overview]]
-=== Software Design & Improvements ===
+=== Software Design & Issues ===
 == Jessii ==
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-=== Mechanical Design & Improvements ===
+=== Mechanical Design & Issues ===
 We tried to make Jessii a more modular and accessible version of Jessi.
-=== Electrical Design & Improvements ===
+=== Electrical Design & Issues ===
 For Jessii, the electrical team focused on iterating on several components of Jessi's system to improve weaknesses seen at the prior competition.
 *Custom Computer and Improved Sensors
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 **The logic board, the custom PCB which handles motor control switched from a virtual serial interface from MBed to a custom Ethernet communication protocol for robustness
-=== Software ===
+=== Software Design & Issues ===
 ==== Design & Improvements ====
 The software team performed a large overhaul of the codebase, focusing primarily on increasing the robustness of various algorithms used.

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 === Software ===
 ==== Design & Improvements ====
 The software team performed a large overhaul of the codebase, focusing primarily on increasing the robustness of various algorithms used.
 * Perception
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 * Local Path Planning
 ** The local path planning algorithm still used the same smooth control law as before. However, instead of using a pure-pursuit style algorithm to follow the path, the robot paths directly to waypoints on the path and performs motion profiling, so that the robot is able to stay on the path.
 = Additional Information =

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 === Software ===
-==== Software Design & Improvements =====
+==== Design & Improvements ====
 We faced a few issues this year:
 * Robustness of line detection
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 ** We used the Field D* for global path planning. However, it wasn't computationally efficient, and failed to find a path in a reasonable amount of time at the beginning of the run, when it saw lines that extended a fair distance in front.
 * Because we were seeing lines in front and not behind us and the first waypoint was located to the side of the starting location, the global path planner planned a path that went behind us, leading to the famous reverse run.
-==== Design & Improvements ====
+==== Issues ====
 The software team performed a large overhaul of the codebase, focusing primarily on increasing the robustness of various algorithms used.
 * Perception