Development of a Navigation Control System for an Autonomous Formula SAE-Electric Race Car
نویسندگان
چکیده
Figure 1: Autonomous Formula SAE-Electric Car This dissertation describes the development of a high level control system for an autonomous Formula SAE race car featuring fusion of a 6-DOF IMU, a consumer grade GPS and an automotive LIDAR. Formula SAE is a long-running annual competition organised by the Society of Automotive Engineers which has recently seen the introduction of the new class SAE-Electric. The car discussed in this dissertation features electric motors driving each of the two rear wheels via independent controllers and has full drive-by-wire control of the throttle, steering and (hydraulic) braking system. Whilst autonomous driving is outside the scope of the Formula-SAE competition, it has been the subject of significant research interest over the last several decades. It is intended that the Autonomous SAE car developed in this project will provide UWA with a platform for research into driverless performance cars. This project consists of the design and implementation of a navigation control system which uses a Linux PC to interface with a range of sensors as well as the drive-by-wire system, safety systems and a base station. The navigation control system is implemented as a multi-threaded C++ program featuring asynchronous communication with hardware outputs, sensor inputs and user interfaces. The Autonomous SAE Car can drive following a map consisting of “waypoints” and “fence posts” which are recorded by either driving the course manually or through a GoogleMaps based web interface. Mapped driving is augmented by the use of a LIDAR scanner for detection of obstacles including road edges for which a novel algorithm is presented. GPS is used as the primary navigation aid; however sensor fusion algorithms have been implemented in order to improve upon the measurement of the cars position and orientation through the use of a 6-DOF Inertial Measurement Unit.
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