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Questions tagged [autonomous-car]

A vehicle that is capable to sense its environment and moving in it with little or no human input.

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How do I properly model tires in Gazebo?

I created a complete URDF of a car-like robot, which I simulate in Gazebo Harmonic with the DART engine connected to ROS2 Iron. It drives around nicely, but going above 6 m/s introduces intense ...
multiplex's user avatar
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17 views

Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
Asmaa GZ's user avatar
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8 views

Publish a .bag file in ROS using OpenDR

I'm trying to publish a .bag file for 3D object detection using OpenDR toolkit. I'm new at ROS and I see that they use .txt and .bin files in this PointCloud script to detect the objects in the point ...
ARosOpenDR's user avatar
0 votes
1 answer
127 views

Nav2 Planner/Controller params for Ackermann Vehicle

I'm trying to use nav2 with a real self-driving golf cart. The architecture of the cart is not complex: The rear wheels respond to twist.linear.x commands The steering instead with the twist.angular.z ...
Supermax182's user avatar
1 vote
1 answer
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Lateral control for autonomous vehicles

I am working on autonomous vehicle control, i used the kinematic bicycle model, For the speed reference I used a speed profile not a constant speed(given below [![speed][1]][1] for the steering angle ...
Asmaa GZ's user avatar
0 votes
1 answer
187 views

impliment car like steering in ros2_control

I want to implement a 4 wheel robot with car like steering(having 2 front steerable wheels and 2 back drive wheels) in ros2 using ros2_control. Can you suggest me which ros2 controller should I use(...
Pratham's user avatar
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1 answer
514 views

Could not find a package configuration file provided by "nav2_map_server"

I am learning ROS 2 and trying to develop an agriculture autonomous robot package on ROS 2 Humble with Ubuntu 22.04. While building with colcon build, I am getting the following error: ...
GURUV Abundance GURUV's user avatar
3 votes
1 answer
114 views

Autonomous Mapping help!

I have a robot that uses odometry and Lidar. Im using both Nav2 and slam_toolbox in order to manually create the map and then navigating through it. My question is, Is there a way to make the robot ...
Danana's user avatar
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1 answer
90 views

Steering wheel angle control

I am working on an autonomous vehicle's control, specifically the steering angle control. Knowing that I used kinematic bicycle model, my questions are: How do I choose the actuator for my steering ...
Asmaa GZ's user avatar
4 votes
1 answer
307 views

Why visual SLAM is seldomly used in autonomous driving?

In research called Occupancy Network by Tesla, the occupancy map is constructed by the deep learning method. We know that visual SLAM can compose maps like Octomap, either. And Octomap can be used for ...
Mr.parker's user avatar
1 vote
1 answer
324 views

How can I implement autonomous navigation on a robot using only an RPlidar A1 sensor and an MPU6050 IMU? [closed]

I am attempting to build an autonomous robot using an RPlidar A1 sensor and an MPU6050 IMU. However, I do not have odometry sensors, which are commonly used for autonomous navigation. I am interested ...
José Santos's user avatar
-1 votes
1 answer
1k views

Error while building using colon - colcon build --symlink-install --cmake-args

...
Meet Shah's user avatar
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1 answer
89 views

Need suggestions for wire size, wire connection, etc. for building an autonomous mobile robot

I am a newbie and I want to build an autonomous mobile robot. I am using 4 brushed DC motor (stall current 5.0A). I am using four MD20A motor drivers (20A continuous, 60A peak). The wire coming out of ...
Msr09's user avatar
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0 votes
1 answer
37 views

Safety standards for autopilots

Does anyone know if where i could learn more about the software safety standards for real time applications, such as for car and plane autopilots? Both EU and US suggestions are very much wanted.
Ole Haaland's user avatar
0 votes
2 answers
481 views

How to make a synchronized LiDAR/Camera rig for Autonomous Driving research?

I am just starting a research project at my university involving sensor fusion between a Camera and a LiDAR device to detect and localize cars around our vehicle (bounded boxes around cars in 3D point-...
Muhammad Shahbaz's user avatar
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1 answer
2k views

What is Wrong With My Stanley Controller for Car Steering Control

Hope everyone is doing well. I am just trying out Microsoft Airsim for few days and few hours ago I wanted to implement a Path Tracking Algorithm for an Autonomous Car. For the lateral control, I ...
kucar's user avatar
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1 answer
187 views

Kinematic Bicycle Model theta units

I don't understand the $\theta$ units. The bicycle model defines $\theta$ as: $$\theta=\theta +\frac{v\cdot\tan\delta}{L}\cdot$$ Where $v$ is the vehicle velocity, $L$ is the wheelbase distance, and $\...
nrofis's user avatar
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1 answer
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What is the most cost effective yet still reliable outdoor boundary system?

I am working on a robot that will operate outside in people's lawns in a predefined space. The issue that I am having right now is figuring out what kind of boundary system I should implement in order ...
Aditya S's user avatar
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40 views

Decidability of Pursuit-Evasion games and self driving cars

I was wondering if there is any theory describing the decidability of a continuous pursuit-evasion game with constraints. Scenario: Two cars approach each other on a street with two lanes. Let's say ...
amh23's user avatar
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2 votes
1 answer
152 views

Proper implementation of `pure_pursuit` for ground robots using waypoints

I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are: 1. What exactly do I need to record in my waypoint.csv file? To ...
zlg's user avatar
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1 vote
1 answer
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Autonomous harvesting robots. What are model possible components and interactions for the entire system? [closed]

I found a video which talk about best autonomous robots that use IA technology to harvest crops. The video is very interesting because, the “ecosystem” of each robot varies a lot from company to ...
Hokage's user avatar
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1 vote
1 answer
369 views

Path planning for robot car on grid

I am currently doing a project as my hobby. I am trying to simulate a robot car in a grid arena. Below is the image of the arena: The start point of the car is the bottom-right corner(dark green ...
UJM's user avatar
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0 votes
2 answers
44 views

Best kit for prototyping/testing driving/vision algorithms

I'm wondering what's the best vehicle kit for testing control/navigation algorithms. I want something with some degree of hardware abstraction (in the sense of not having to write too much i/o, ...
biohacker's user avatar
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1 vote
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Robotic Platforms Similar to the PiBot(Locobot)

I am brain storming platforms to use for a project I am working on. I'm looking for an mobile platform with a manipulator attached. I originally was focusing on the PiBot, but after doing some ...
neerbasu's user avatar
1 vote
1 answer
93 views

How does a Tesla or any self-driving car self-drive to a remote place and align itself to an object?

I am trying to understand the technology/procedure related to one of the trivial functions of a modern self-driving cars. Let us consider the example of Tesla's Model S (or any). The car is parked at ...
Pe Dro's user avatar
  • 133
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1 answer
82 views

Jetson TX2 vs small form factor PC for autonomous robots

What are the advantages and disadvantages for each? I can build a small form factor PC with a GTX 1050 which will easily out perform a jetson for the same price. When and where are each more ...
FourierFlux's user avatar
1 vote
2 answers
587 views

Finding the PID values for a vehicle control system

I'm trying to design a PID system for the longitudinal control of an autonomous vehicle. I figured out about most of it but I'm trying to figure out the Kp, Ki and Kd values. This is an illustration ...
Levent Ozbek's user avatar
1 vote
1 answer
554 views

Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
Hoang Khac's user avatar
3 votes
1 answer
87 views

Autonomous RC Car Competitions in germany

Together with a friend of mine and my professor, we were able to build a team and come up with our own self driving rc car. Due to time we didn’t manage to apply for Carolo-Cup, which is a very good ...
ebe's user avatar
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27 views

How to obtain live vertical height values using LIDAR

I plan to control the flying height of my drone using a LIDAR (in real-time). Therefore, I would be attaching the LIDAR to my UAV, pointing vertically downwards. However, after looking at some of the ...
desert_ranger's user avatar
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1 answer
61 views

Can I use experience in Game AI development to develop autonomous driving robots? [closed]

Can I use experience in Game AI development to develop autonomous driving robots? How much similar this areas?
Robotex's user avatar
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3 votes
1 answer
380 views

how to use ROS navigation stack with 4 wheeled robots

I have a 4 wheeled toy car, with 5 motors, one on each wheel and one is used for steering. How can I use ROS navigation stack with this robot since navigation stack is used with differential drive ...
Deepanshu Bansal's user avatar
0 votes
1 answer
150 views

Does Vehicle Yaw angle measures same at every point on it? If not, how to translate yaw rotation to COG of the vehicle from different point?

I am using an IMU to measure the yaw rotation angle of a car. I need to translate the rotation measured to COG of the vehicle. I can ignore roll and pitch as I am driving it on a flat surface. So, ...
manojh93's user avatar
0 votes
2 answers
88 views

Variables that Improve SLAM

I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation? The ones I can think of are: A higher resolution camera ...
neerbasu's user avatar
0 votes
1 answer
974 views

How to get position (X Y values) from a USB optical mouse

I want to use an optical mouse to measure displacement in X and Y direction of my robot. I'm using Ubuntu mate 18.04 on raspberry pi and wrote the following python code : ...
jash's user avatar
  • 331
0 votes
2 answers
413 views

Is it possible to implement VSLAM on Arduino?

If not, then which microcontroller will be suitable?
Aether's user avatar
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5 votes
2 answers
259 views

How Can A Total Beginner Become A Skilled Roboticist?

Say the only computer skill you have is programming in C/C++...what all things would you have to learn in order to be an adept full stack roboticist, one who can single-handedly build an autonomous/AI ...
Coder Motor's user avatar
3 votes
2 answers
313 views

EKF SLAM : Missing older landmarks in new observation

I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
Ananda Kumar's user avatar
1 vote
1 answer
830 views

Tuning PID controlling car's steering angle

We built a car model with Ackerman steering type for line following task. The distance between rear and front wheels' axes was about 42 cm. Then we tuned PID controller (really just PD: Kp = 0.9, Ki = ...
SmnTin's user avatar
  • 11
0 votes
2 answers
227 views

Interfacing HMC5883l Compass with Arduino

I'm using an HMC5883l compass module to find the angle at which my module is pointed from magnetic North. I found this code as an example with "HMC5883L_Simple.h" library. And the results I'm getting ...
Muhammed Roshan's user avatar
2 votes
0 answers
23 views

Undo pitching effect of camera when pose (y-axis) is near 90 degrees?

I am using KITTI odometry dataset whereby the camera's axis is pointing X (east), Y (down) and Z (north). It also contain the frame to frame poses of the camera (first pose is fixed as the map frame). ...
user22846's user avatar
0 votes
1 answer
76 views

Autonomous Navigation Bot [duplicate]

I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
Muhammed Roshan's user avatar
2 votes
2 answers
2k views

How do I calculate the direction robot is facing, pose from velocity and yaw rate?

I have a simple car robot with four wheels moving relatively slowly (5~10 mph). The robot has a velocity magnitude and yaw rate sensor and the sensor samples about every 0.1 seconds. I want to map the ...
John Doenut's user avatar
7 votes
2 answers
110 views

How does a self-driving car locate itself when the environment changes?

There's something I don't quite understand about SLAM. When a self-driving car wants to locate itself using a prior map, how does it do that when the environment keeps changing, e.g., new cars parked ...
John M.'s user avatar
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0 votes
2 answers
105 views

State-vector for distance measurement between two autonomous cars

I hope someone can help me: Given two autonomously driving cars, I want to make sure they keep a constant distance to each other. For this purpose, I want to design a Kalmanfilter. Typically, the ...
user503842's user avatar
-1 votes
1 answer
104 views

Tackling loops and discontinuations in PID line follower

We are making a PID line follower using arduino for a competition. According to the rules of the competition they will have loops and discontinuations in their track. Can anyone give some idea how we ...
Dipan_Mandal's user avatar
2 votes
1 answer
534 views

How can I determine the Transition Matrix of a Kalman-Filter ?

I am trying to set up a Kalman-Filter to filter position-measurements of a self-driving car. To do so, I consider a state-vector with 5 elements and am now trying to set up the Transition Matrix. As ...
user503842's user avatar
2 votes
1 answer
42 views

how to find space in point cloud larger than given l*b

Is their any method by using which I can find a space or gap in given point cloud which has size greater than given rectangle of size $l*b$ or a circle of radius $r$? This way my robot can make a path ...
Dinesh Lama's user avatar
0 votes
1 answer
79 views

Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
Ajin2305's user avatar
10 votes
1 answer
341 views

In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
T.A. Eady's user avatar
  • 101