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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ROS2 Synchronization Issue: Pose and GNSS Data Out of Sync with Different Update Rates (200 Hz vs 100 Hz)
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ROS2 Synchronization Issue: Pose and GNSS Data Out of Sync with Different Update Rates (200 Hz vs 100 Hz)
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I am working with ROS2 Humble and trying to synchronize the data from two topics ...
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controlling servo motors using ROS2 , direction chaniging error
I am controlling two servo motors using single axis drive through modbus communication , normally the motor starts to rotate in a clock wise direction , but i have to change the direction from clock ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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(...
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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 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 ...
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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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