Autonomous navigation vehicle algorithms

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

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