IIT Bombay Racing Driverless：面向 Formula Student AI 的无人驾驶堆栈

Yash Rampuria; Deep Boliya; Shreyash Gupta; Gopalan Iyengar; Ayush Rohilla; Mohak Vyas; Chaitanya Langde; Mehul Vijay Chanda; Ronak Gautam Matai; Kothapalli Namitha; Ajinkya Pawar; Bhaskar Biswas; Nakul Agarwal; Rajit Khandelwal; Rohan Kumar; Shubham Agarwal; Vishwam Patel; Abhimanyu Singh Rathore; Amna Rahman; Ayush Mishra; Yash Tangri

IIT Bombay Racing Driverless：面向 Formula Student AI 的无人驾驶堆栈

机器人学 2024-08-13 v1

作者: Yash Rampuria , Deep Boliya , Shreyash Gupta , Gopalan Iyengar , Ayush Rohilla , Mohak Vyas , Chaitanya Langde , Mehul Vijay Chanda , Ronak Gautam Matai , Kothapalli Namitha , Ajinkya Pawar , Bhaskar Biswas , Nakul Agarwal , Rajit Khandelwal , Rohan Kumar , Shubham Agarwal , Vishwam Patel , Abhimanyu Singh Rathore , Amna Rahman , Ayush Mishra , Yash Tangri

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摘要

本文介绍了 IIT Bombay Racing 团队为 Formula Student AI 赛事（英国）所设计与开发的 Formula Student 风格自动赛车算法。该车辆采用了最前沿的传感器组合：配备 NVIDIA Jetson Orin AGX 计算单元、2 个 ZED2i 立体相机、1 个 Velodyne Puck VLP16 LiDAR 以及 SBG Systems Ellipse N 级 GNSS/INS IMU。车辆运用深度学习算法和控制系统，在无人干预的情况下导航复杂赛道并执行机动动作。设计过程包括大量仿真与测试，以优化车辆性能并确保其安全。所开发的算法在小规模的内部制造四轮机器人及仿真软件上进行了测试。本文详细阐述了在感知、同步定位与地图构建、路径规划和控制等方面对各类算法进行测试所得结果。

关键词

无人驾驶 Formula Student 深度学习传感器融合路径规划

引用

@article{arxiv.2408.06113,
  title  = {IIT Bombay Racing Driverless: Autonomous Driving Stack for Formula Student AI},
  author = {Yash Rampuria and Deep Boliya and Shreyash Gupta and Gopalan Iyengar and Ayush Rohilla and Mohak Vyas and Chaitanya Langde and Mehul Vijay Chanda and Ronak Gautam Matai and Kothapalli Namitha and Ajinkya Pawar and Bhaskar Biswas and Nakul Agarwal and Rajit Khandelwal and Rohan Kumar and Shubham Agarwal and Vishwam Patel and Abhimanyu Singh Rathore and Amna Rahman and Ayush Mishra and Yash Tangri},
  journal= {arXiv preprint arXiv:2408.06113},
  year   = {2024}
}

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8 pages, 19 figures

IIT Bombay Racing Driverless：面向 Formula Student AI 的无人驾驶堆栈

摘要

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