Improvement Ideas

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This is a list of possible improvements to the Segway RMP:

  • Local Path Planning.
    • Fix ND+ problem (it sometimes get stuck and the implementation is messy and in spanish).
    • Develop a new algorithm better suited for a Segway RMP.
    • Increase driving speed (at the moment max speed is set to 0.3 m/s).
  • General Software.
    • Eliminate segmentation faults (what causes it?).
    • Add posibility of adding missions when the robot is running.
    • Comment in the laser range fault detection.
  • Person Detection and Personal Space.
    • Optimize the algorithms computational speed.
    • Adjust Kalman filter (speed estimation is slow).
  • Laser rangefinder.
    • Only configure SICK LMS100 if there are changes in parameters (saves 60 seconds each time the server is started).
    • Filter the laser ranges (to overcome the problem of having sporadic 0 m ranges).
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