Autonomous navigation vehicle algorithms: Difference between revisions
From wikiluntti
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== Reactive Methods == | == Reactive Methods == | ||
=== Follow the Gap A === | |||
=== Follow the Gap B === | |||
== Mapping and localization == | == Mapping and localization == | ||
Revision as of 21:23, 28 November 2023
Introduction
A great resource is F1Tenth, https://f1tenth.org/
See also https://mushr.io/tutorials/tuning/ and https://racecar.mit.edu/platform
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
Follow the Gap A
Follow the Gap B
Mapping and localization
Planning
Vision
More
Labs from F1tenth
- Wall following https://f1tenth-coursekit.readthedocs.io/en/latest/assignments/labs/lab3.html#doc-lab3
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
- Ziegler-Nichols method for PID https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
