About The Project
Implemented various algorithm to conduct F1Tenth Racing including pure pursuit, RRT, and RRT*.
Built With
- Python
- NumPy
Emergency Braking
Implemented Emergency Braking for the car using LiDAR scans and calculating the instantaneous Time to Collision (iTTC).
Wall Following
Implemented PID control in the time domain to give commands to the vehicle to follow the wall. Used LiDAR data to calculate the distance from the wall.
$$ u(t)=K_{p}e(t)+K_{i}\int_{0}^{t}e(t^{\prime})dt^{\prime}+K_{d}\frac{d}{dt}(e(t)) $$
Gap Following
Implemented a reactive algorithm for obstacle avoidance using LiDAR scans.
Pure Pursuit
RRT/RRT*
