From Robots in everyday human environments
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).