Status: Coverage Pattern Planning

Report from Kimberly Shillcutt

In Patriot Hills, Stewart Moorehead ran 7 tests of the coverage pattern software. 6 of the 7 tests worked well, though 1 failed, most likely due to an unusual starting configuration of the robot's wheels. All of them were done on a blue ice field at Patriot Hills, at 0.15 m/s speed. One of them includes a deviation from the pattern to a side location.
 
Straight rows pattern: 4 meter turning radius, 8 meter row width, 30 meter row length, 30 meter pattern width.
Spiral pattern: 4 meter turning radius, 8 meter row width, 20 meter spiral radius, clockwise direction.
Straight rows pattern: 4 meter turning radius, 12 meter row width, 25 meter row length, 40 meter pattern width. This trial did not work. The likely cause is that the robot's wheels were positioned in an unusual configuration to start with, such that the robot was not able to recover quickly enough.
Straight rows pattern: 4 meter turning radius, 12 meter row width, 30 meter row length, 40 meter pattern width. A deviation from the pattern occcured in the middle of the second row to a relative waypoint (-15, 2, 0). The pattern was then resumed.
Spiral pattern: 4 meter turning radius, 12 meter row width, 25 meter spiral radius, clockwise direction.
Straight rows pattern: 4 meter turning radius, 8 meter row width, 20 meter row length, 30 meter pattern width.
Straight rows pattern: 4 meter turning radius, 8 meter row width, 20 meter row length, 30 meter pattern width.

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