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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Autoware.universe Zed2 Camera integration
I wonder if there is any way to configure zed2 stereo camera with autoware.universe humble version. 'https://autowarefoundation.github.io/autoware-documentation/main/' here is the documentation ...
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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:
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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 ...
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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 ...
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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 ...
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How to use hector slam autonomous navigation without odometry? [closed]
I have a robot that i want to make autonomous, i will try to get a rplidar A1 for making things easy on the mapping through the HECTOR SLAM package but i want to use autonomous navigation, i only have ...
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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 ...
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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.
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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-...
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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 ...
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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 $\...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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, ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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?
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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 ...
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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, ...
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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
...
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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 :
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Is it possible to implement VSLAM on Arduino?
If not, then which microcontroller will be suitable?
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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 ...
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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 ...
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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 = ...
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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 ...
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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). ...
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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, ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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-...
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Robotics RC Car hack help
I need help with a robotisation project, please.
I am new to robotics and have the Maverick RC car pictured below:
My project is to add Arduino and Raspberry Pi boards to control the speed and ...
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Is a small time locally controllable system holonomic?
If you define a wheel that can only rotate and move in the direction it is pointing to but using a combination of motions (arbitrarily short) it can be moved sideways, does the system still remain ...
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DSO_ROS is not giving right coordinates after taking turn (left/right)
Hi all ,
i got stuck in a problem and really need your help.
Goal:
I want to move little Toy vehicle autonomously (localization and mapping) and want to get distance covered by vehicle using DSO in ...
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Which is a good and cheap 3D LIDAR or other options? [closed]
Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 ...
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Adding ROS to Raspberry Pi car and teleoperation
I just completed a Raspberry Pi car setup shown in the image below.
With my car now assembled, I can run a simple Python script put the necessary GPIO pins HIGH or LOW and moves the car around ...
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