Autonomous Overview

Decision making node

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Navigation node

The navigation node keeps track of our navigation status and plans a path to the goal location if one has not been planned.

Navigation Node Documentation

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Sensor processing node

The sensor processing node processes information from general sensors such as the stereo depth data from the zed 2i camera. In the future this will handle the lidar and secondary imu.

Sensor processing Documentation

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GPS anchor node

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Waypointing node

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Vision processing node

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Stuck detection node

The stuck detection node determines if, and qualifies why, the rover is stuck (i.e. immobile). Currently, it does this through drivetrain data.

Documentation