Scaled Autonomous Robot Cars

When the front car is too slow, the follower will overtake the front car. The control algorithm works on a curved road as well.

Equipped with a LIDAR scanner, the car which performs the overtaking can tracking the other car, while localizing itself in the environment.

More videos for different driving scenarios, such as a front car suddenly cutting in, may be shown here later...

Thanks to Prof. Ozay for her instructions on the theory part.

Thanks to Stanley Smith and Shiqu Liu, who were students previously working on this project.

Thanks to Zizhao Wang, who gave me some help during the testing and some computer vision coding.

Reference:

[1] P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P. Tabuada, “Preliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Control”, Proc. 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 201

[2] S. W. Smith, P. Nilsson, and N. Ozay, “Interdependence quantification for compositional control synthesis with an application in vehicle safety systems", Proc. 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, December 2016.