F1/10

Inspiration

bold F1/10 is all about pushing the limits of how fast we can drive. Our project will work towards this goal by improving the algorithms and increasing the frequency of the car’s state estimation. The car can’t locate itself on a prebuilt map with enough frequency to support the car’s top speed and therefore cannot plan optimal trajectories around the racecourse. The current method uses Scan matching as an odometry input to the Adaptive Monte Carlo Localization (AMCL). Not only does this odometry use important computing resources, it does not provide an accurate enough pose estimate to reduce the search space for scan matching. It also runs into issues with some featureless walls. If the odometry estimate was improved we could more accurately predict where the car was and be able to run AMCL much faster. In addition, currently the F1/10 platform does not fully utilize the data from all the sensors to estimate the state. By combining the data from the various sensors on the platform, we can get an improved state estimate. If done properly, this estimate could be input into the controller and used between scan matching updates.

Goals

bold In order to work towards the overall goal of increasing the speed of the cars we are working to improve the localization schemes which are the current limiting factor for race speeds. We will make improvements in the following ways: Decrease the search space for scan matching by improving the odometry estimates through encoders and optical flow sensors. Combine the readings from the existing sensors and actuators (Accelerometer, Gyro, SLAM, Encoders, Scan Matching, Steering angles, and PWM values) in a kalman filter to improve the state estimations of the car. Look into alternative localization schemes that could eliminate Scan Matching altogether

What it does

How we built it

Challenges we ran into

Accomplishments that we're proud of

What we learned

What's next for F1/10 - Racing Towards the Limit

Built With

• c++
• encoder
• indigo
• jetson
• ros
• teensyduino