Autonomous navigation vehicle algorithms: Difference between revisions
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* Quaternions: Steven M. LaValle - Virtual reality lectures https://www.youtube.com/playlist?list=PL_ezWOhnpakMojiJGm-YiCz5zr4GpuLG_ | * Quaternions: Steven M. LaValle - Virtual reality lectures https://www.youtube.com/playlist?list=PL_ezWOhnpakMojiJGm-YiCz5zr4GpuLG_ | ||
* Names of the coordinates: https://www.ros.org/reps/rep-0105.html | |||
Revision as of 21:00, 28 November 2023
Introduction
A great resource is F1Tenth, https://f1tenth.org/
Safety Concerns
- Real-life problems
- Sensors
- Failure modes
Automatic breaking AEB
Automatic emergency breaking AEB
- Detect objects
- Find range, velocity, heading
- Determine critical objects. Time to collision TTC.
- False positive: Nobody will buy a system with these
- False negative: kills innocent people
Stop the vehicle before colliding.
Sensors
- Camera
- Structured light 3d scanner camera
- Stereo camera
- Monocular camera
- Radar
- Ultrasonic
- Lidar
- Planar lidar (Hokuyo 30LX)
- 3d lidar
- solid state lidar (Velodyne velarray)
- Odometry
Reactive Methods
Mapping and localization
Planning
Vision
More
More references
- Quaternions: Steven M. LaValle - Virtual reality lectures https://www.youtube.com/playlist?list=PL_ezWOhnpakMojiJGm-YiCz5zr4GpuLG_
- Names of the coordinates: https://www.ros.org/reps/rep-0105.html
