Autonomous Ground Robot

Hardware

First I developed a ground robot platform to develop autonomous driving algorithms. The hardware specifications are as follows:

Developed a teleop software to remotely operate wheeled robot using arrow keys of a remote laptop using wireless communication.
Complete system programmed using C++ language using the Boost ASIO library to set up the TCP/IP wireless protocol for communication.
Software designed for Linux based systems that communicate between any remote computer with linux(x64 or arm64) and Jetson Nano (Arm64)
Serial Communication between on-board computer and Arduino uno using Boost ASIO serial_port objects.
Github Link: https://github.com/karthikbalajikesh/RobotJoystick

Autonomous Vehicles operate with predefined map data or feature based maps built on the run.
Planning system utilizes world model consisting of static and dynamic obstacles in Global Frame to select maneuvers and plan paths.
Proposed system delegates Navigation to User or Passenger, thus reducing the decision framework latency.
This allows vehicles to operate without a mission planner and hence without global frame.
This counteracts Localization errors as well as increases the rate of motion planning update.
Tested feasibility of solution on a simplified problem in a wheeled robot.

Client Server structure to enable data transmission between remote computer and robot computer.
Software designed for Linux OS with C++, using TCP protocol from Boost ASIO library.
Perception System is composed of Lane Detector using Sliding Window search and Object detection using Faster RCNN.
Mapping for this system is a binary occupancy grid, on which PRM -A * and RRT* planners run in multi-threaded fashion,
Controller is a Pure Pursuit controller.

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