Lab 3: Wall Following and Safety Control
Using LiDAR data as input to a PID controller to follow walls on either side. We also implement a safety controller for use throughout the class.
Our Team
Owen Matteson
omatt431@mit.edu
Ragulan Sivakumar
rskumar@mit.edu
Shenzhe Yao
yaoshzh@mit.edu
Lab Work
×
(1) Left turn around corner
(2) Safety control with dynamic obstacle
Lab 3: Wall Following and Safety Control
Lab 4: Cone Parking and Line Following
We apply color segmentation on camera images to add parking and line-following capabilities to the car.
Lab 5: Localization in the Stata Basement
We use Monte Carlo Localization to perform localization given a map of the Stata basement.
×
(1) Traversing a corner
(2) RViZ showing localization of car during the turn
Lab 5: Localization in the Stata Basement
Lab 6: Path Planning
Planning trajectories between two points using graph algorithms and following them with pure pursuit.
×
(1) Complex path planning and following
(2) Real world demonstration
Lab 6: Path Planning
The Final Challenge: One Last Ride
We combine color segmentation with Hough transformations to race at high speeds around the Johnson indoor track. For city driving, we employ a state machine to follow a path while obeying stop signs.
×
(1) Testing out our car on the track
(2) Stopping at stop signs in the city
The Final Challenge: One Last Ride
