Design of an Autonomous Racecar: Perception, State Estimation and System Integration
| Autor: | Hubertus Franciscus Cornelis Hendrikx, Miguel de la Iglesia Valls, Mathias Bürki, Victor Reijgwart, Fabio Vito Meier, Abel Gawel, Inkyu Sa, Roland Siegwart, Renaud Dubé |
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| Rok vydání: | 2018 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology business.industry Computer science Control engineering 02 engineering and technology Modular design 01 natural sciences 010309 optics Computer Science - Robotics 020901 industrial engineering & automation 0103 physical sciences Key (cryptography) Systems design System integration business Robotics (cs.RO) |
| Zdroj: | 2018 IEEE International Conference on Robotics and Automation (ICRA) Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA) ICRA |
| DOI: | 10.1109/ICRA.2018.8462829 |
| Popis: | This paper introduces fl\"uela driverless: the first autonomous racecar to win a Formula Student Driverless competition. In this competition, among other challenges, an autonomous racecar is tasked to complete 10 laps of a previously unknown racetrack as fast as possible and using only onboard sensing and computing. The key components of fl\"uela's design are its modular redundant sub-systems that allow robust performance despite challenging perceptual conditions or partial system failures. The paper presents the integration of key components of our autonomous racecar, i.e., system design, EKF-based state estimation, LiDAR-based perception, and particle filter-based SLAM. We perform an extensive experimental evaluation on real-world data, demonstrating the system's effectiveness by outperforming the next-best ranking team by almost half the time required to finish a lap. The autonomous racecar reaches lateral and longitudinal accelerations comparable to those achieved by experienced human drivers. Comment: 8 pages, 10 figures, accepted to International Conference on Robotics and Automation | 21-25 May 2018 | Brisbane |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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