Description
The objective of this project was to research and experimentally test methods of localization, waypoint following, and actuation for high-speed driving by an autonomous vehicle. This thesis describes the implementation of LiDAR localization techniques, Model Predictive Control waypoint following, and communication for actuation on a 2016 Chevrolet Camaro, Arizona State University’s former EcoCAR. The LiDAR localization techniques include the NDT Mapping and Matching algorithms from the open-source autonomous vehicle platform, Autoware. The mapping algorithm was supplemented by that of Google Cartographer due to the limitations of map size in Autoware’s algorithms. The Model Predictive Control for waypoint following and the computer-microcontroller-actuator communication line are described. In addition to this experimental work, the thesis discusses an investigation of alternative approaches for each problem.
Details
Title
- Autonomous Racing: An Exploration of Localization, Waypoint Following, and Actuation for High-Speed Autonomous Vehicles
Contributors
- Copenhaver, Bryce Stone (Author)
- Berman, Spring (Thesis director)
- Yong, Sze Zheng (Committee member)
- Dean, W.P. Carey School of Business (Contributor)
- Engineering Programs (Contributor)
- Barrett, The Honors College (Contributor)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2020-05
Resource Type
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