New Features

[huckl3b3rry87]

I have several projects that I am working on and I am managing a team of masters students (this semester) at the University of Michigan to get this done. Below I have a summary of all of the features that I will be adding.

Projects / Features

• Integrate Gazebo into MAVs
  We have done a large amount of this already but could use help finishing up adding the path planning and tracking algorithms and making sure that the dependencies that needed to be removed are OK. While eventually, we will use the Chrono vehicle model, Gazebo will still be used to simulate the sensors (LiDAR etc.) and the environment.

• Chrono
  We want to add this so that we can use the validated and high fidelity vehicle models.

• Moving Obstacle Avoidance
  This is the algorithm that we are interested in testing, first in simulation and then in experimentation.

• obstacle_detector
  In order to test the moving obstacle avoidance algorithm, we need a package in Autoware that can estimate moving obstacle speed etc from raw LiDAR data.

• simulate lidar in Gazebo
  The LiDAR will be simulated in Gazebo and the vehicle will just be moved around to the current state of the vehicle that Chrono gives

• Setup the A* Path Planning Algorithm in Gazebo
  To see how the trajectory planning algorithm works compared to path planning algoritm