Bachelor's Capstone

ROS project to make an autonomous car do localization, path planning, control and obstacle avoidance.

Table of Contents

Overview
Line Following using Vision
Localization, Planning and Control
Obstacle Detection and Avoidance

Overview

My Bachelor’s capstone project was implementing several autonomy functionalities on a robot car. The project was done in teams and includes localization with a particle filter, path planning with RRT*, control with a pure pursuit controller, and obstacle avoidance. The project was implemented in Python using ROS and involved camera and LiDAR sensors.

Line Following using Vision

Line following done using HSV color segmentation. The lookahead distance was tuned to have optimal performance.

Localization, Planning and Control

Localization with Particle Filter

Localization done with a particle filter using odometry and LiDAR data. The video shows localization while teleoperating the car.

Path Planning with RRT*

Path Planning was done with RRT*. It struggles slightly with getting around obstacles.

Following The Path

A pure pursuit controller was used to follow the path.

Obstacle Detection and Avoidance

Obstacles were detected using the LiDAR.

Obstacle avoidance in different environments