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-------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | +| 当前状态 | 目前融合定位和摄像头检测避障程序都有初步DEMO,联合运行存在问题 | | +| 摄像头避障问题 | 目前摄像头避障存在不及时的问题,已经检测到目标障碍物了,但是会撞到障碍物。原因:全覆盖地图和摄像头避障回调是两个单独的线程。当摄像头检测到避障后,回调函数设置障碍标志位。但是此时全覆盖的策略亦然在线程里面运行,还没有进入避障逻辑,已经撞到障碍物了。 | 需要额外增加合适的标志位打断原先的全覆盖逻辑,进入避障的逻辑 | +| | | | + + ##### 1.1.1 目标 diff --git a/开发日志.md b/开发日志.md new file mode 100644 index 0000000..ac813cb --- /dev/null +++ b/开发日志.md @@ -0,0 +1,57 @@ +# 2024-04-01 + +#### 1.当前状态: + +​ 目前融合定位和摄像头检测避障程序都有初步DEMO,联合运行存在问题。 + +#### 2.摄像头避障问题 + +​ 目前摄像头避障存在不及时的问题,已经检测到目标障碍物了,但是会撞到障碍物。原因:全覆盖地图和摄像头避障回调是两个单独的线程。当摄像头检测到避障后,回调函数设置障碍标志位。但是此时全覆盖的策略亦然在线程里面运行,还没有进入避障逻辑,已经撞到障碍物了。 + +```C++ +void sendNavigation(vector pos){ + for(p in pos){ + NavigationSet(pos); + sleep(0.1); + } +} + +void navigateExplorationPath(){ + if(flag == true){ + // 避开障碍物策略 + ... + } + // 发送导航目标 + sendNavigation(pos); +} + +void SteroCB(float dist){ + if(dist > 10 && dist < 60){ + flag = true; + } +} +``` + +​ 解决方案:2024/04/01实验确定了是全覆盖的策略导致的避障不及时问题。 需要额外增加合适的标志位打断原先的全覆盖逻辑,进入避障的逻辑 + +#### 3.UWB草坪测试问题 + +​ 在草坪环境里面跑UWB融合定位全覆盖,会出现异常情况。在下面箭头位置,全覆盖会失效错误。目前草坪UWB全覆盖有下面两个问题: + +​ 1、转弯处有额外的圈圈,怀疑是因为UWB放在车头导致转弯产生额外的偏移,引起全覆盖算法出现调整导致。 + +​ 2、全覆盖异常问题:运行一段时间后,全覆盖出现异常导航 + +​ ![f74ccf4edc58d341763b35346d6fc5b](./Image/2024-04-01/UWBFusion.png) + +​ 问题1解决方案:调整UWB基站的位置,放在两个轮子中间,重新设计银星机器人结构,减少摄像头遮挡。 + +​ 问题 2解决方案:全覆盖的log采用文件存储方式,在关键节点记录全覆盖的log并保存,在复现bug的时候,通过log回推代码逻辑。 + +#### 4.融合定位问题 + +​ 目前融合定位存在下面两个问题: + +​ 1.初始收敛慢,缺少初始阶段快速收敛 + +​ 2.缺少方向对准 \ No newline at end of file