Car assembly Overview: Perception Planning Control Robot - - PowerPoint PPT Presentation

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Sep 12, 2023 273 likes •461 views

Car assembly Overview: Perception Planning Control Robot Operating System Practice Session 1: Driving using Keyboard controls Traxxas 1/10 scale RC race car Traxxas 1/10 scale RC race car Brushless DC motor Electronic Speed Control (ESC)

SLIDE 1

Car assembly Overview: Perception Planning Control Robot Operating System Practice Session 1: Driving using Keyboard controls

SLIDE 2

Traxxas 1/10 scale RC race car

SLIDE 3

Traxxas 1/10 scale RC race car

SLIDE 4

Brushless DC motor

SLIDE 5

Electronic Speed Control (ESC)

SLIDE 6

Servo motor for steering

SLIDE 7

Radio receiver

SLIDE 8

Battery pack

SLIDE 9

Sensor Integration

Camera IMU LiDAR IR Depth Cameras

SLIDE 10

Sensor Integration

Camera IMU LiDAR IR Depth Cameras

Onboard Computer

Motor Controller Battery Wi-fi Telemetry

SLIDE 11

Ready to race ! Not quite..

SLIDE 12

System Architecture

Filters Map generation Computer vision Localization Path planning Steering Drive

Wireless Telemetry

SLIDE 13

Perception

SLIDE 14

Uneven Wall Surface Uneven Wall Surface Laser Scans Laser Scans Wall – T section or turn Wall – T section or turn

LaserScans viewed in Rviz Race car view

Perception

SLIDE 15

Planning

SLIDE 16

Planning

Cost Maps path planning

SLIDE 17

Control

SLIDE 18

System Architecture

Filters Map generation Computer vision Localization Path planning Steering Drive

Wireless Telemetry