Project Information

Introduction to Intelligent Systems (430.457) Fall 2019

Project Schedule

Dates	Tasks
09/02 - 09/16	preProject1 : Install the Linux and follow basic tutorial on ROS.
09/16 - 09/25	preProject2 : Run examples on ROS and simulate Racecar on GAZEBO.
10/14 - 10/28	Project1 : Implement PID control algorithm in C/C++. Simulate RC car control using PID control on GAZEBO.
10/30 - 11/13	Project2 : Implement RRT in C/C++. Combine RRT with PID algorithm Simulate together on GAZEBO.
11/13 - 11/25	Project3 : Running SLAM algorithm in C/C++. Simulate the algorithm on GAZEBO.
11/25 - 12/06	Project4 : Running AMCL algorithm in C/C++. Simulate RC car turning around a track on GAZEBO.
12/09 - 12/13	Contest Week Your team score and ranking will be posted in the class homepage. Score and ranking will be updated every time you submit a revised code. You can submit your revised code at any time during the contest week.
12/16 - 12/19	Hardware Test Apply your algorithm on a real RC car.
12/20	RC Car Racing Challenge (with real RC cars)

Implement a code for performing several missions.

Criteria: Missions >> Time >> Distance (Time includes time for generating path)

Missions include "turning around outer track" + "visit some goal points"

If the result is not better than before, the score will not be updated in the list. In that case, we will only write the submission time.

Rank	Team Name		scenario1	scenario2	result	submission time/Note
1	alphaCar	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 23:59 ver_5 scenario2 collision
		Time	1:56	2:06	4:02
2	TeamCook	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 23:51 scenario2: Collision submission time - 23:56 (YesChallange) record 5:27
		Time	2:11	3:14	5:25
3	WHEELSTUCK	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 23:54
		Time	2:39	2:52	5:31
4	Jokar	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 21:57
		Time	2:14	3:26	5:40
5	HelloCarBot	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 23:59
		Time	2:47	3:42	6:24
6	JoDoo	Missions	(1+3)/4	(1+2)/4	7/8	submission time - 18:00 scenario2: RRT fail, ver 3
		Time	3:26	-

Rank	Team Name		scenario1	scenario2	result	submission time/Note
1	alphaCar	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 11:44 RRT fail
		Time	3:35	3:01
2	Team Cook	Missions	(0+0)/4	(0+0)/4	0/8	RRT is created but the path is created inside the map & collision occurs
		Time	-	-
2	HelloCarBot	Missions	(0+0)/4	(0+0)/4	0/8	RRT is created but the path is created inside the map & collision occurs
		Time
2	JoKar	Missions	(0+0)/4	(0+0)/4	0/8	RRT is created b ut & collision occurs & too slow
		Time
-	JODOO	Missions	-	-	0/8
		Time
-	WHEELSTUCK	Missions	-	-	0/8
		Time

Rank	Team Name		scenario1	scenario2	result	submission time/Note
1	alphaCar	Missions	(1+3)/4	(1+3)/4	8/8	submission time - 16:33
		Time(s)	3:01	3:41
-	HelloCarBot	Missions	-	-	0/8
		Time(s)
-	WHEELSTUCK	Missions	-	-	0/8
		Time(s)
-	Team Cook	Missions	-	-	0/8
		Time(s)	-	-
-	JODOO	Missions	-	-	0/8
		Time(s)
-	Jokar	Missions	-	-	0/8
		Time(s)

Rank	Team Name		scenario1	scenario2	result	submission time/Note
1	alphaCar	Missions	(1+3)/4	(1+1)/4	6/8	submission time - 16:30 scenario2 collision
		Time(s)	3:17	-
-	HelloCarBot	Missions	-	-	0/8
		Time(s)
-	WHEELSTUCK	Missions	-	-	0/8
		Time(s)
-	Team Cook	Missions	-	-	0/8
		Time(s)	-	-
-	JODOO	Missions	-	-	0/8
		Time(s)
-	Jokar	Missions	-	-	0/8
		Time(s)

Implement AMCL algorithm in C/C++. Simulate RC car control on GAZEBO.

Running SLAM algorithm in C/C++. Simulate the algorithm on GAZEBO.

We checked "hector_slam_map_[localtime].tif" file in compressed folders. Screenshot results of rviz were also accepted.

Implement RRT algorithm in C/C++. Simulate RC car control on GAZEBO.

An arbitrary path is used for testing

Team Name	Given path	Time	Test path	Time	Note
Team Cook	Success	172s	Success	219s
HelloCarBot	Success	123s	Success	145s
WHEELSTUCK	Success	79s	Success	105s
alphaCar	Success	214s	Success	266s
JODOO	Success	217s	Success	261s
Jokar	Fail		Fail		Cannot follow a path

Implement PID control algorithm in C/C++. Simulate RC car control using PID control on GAZEBO.

An arbitrary path is used for testing

Team Name	Given path	Time	Test path	Time	Note
Team Cook	Success	37s	Success	48s
HelloCarBot	Success	70s	Success	148s
WHEELSTUCK	Success	24s	Success	35s
alphaCar	Success	72s	Fail		Test Path (6/10)
JODOO	Success	70s	Success	87s
Jokar	Success	163s	Fail		Test Path (6/10)

	Team Name	Member 1	Member 2	Member 3
1	Team Cook	이동환	박세진	최창운
2	HelloCarBot	김경찬	이동진	이채현
3	WHEELSTUCK	최민호	김다휘	Kim Alexander Joongie
4	alphaCar	김상민	장호준	박보경
5	JODOO	오정우	노호준	이상현
6	Jokar	심동석	김태희