Creating Autonomous Car

The Project objective is to understand ROS, Control, Localization for the Autonomous Car.

This project is implemented in the course MEN491 Creating Autonomous Car. (Course Grade: A0)

First, we implemented the reactive method to control the autonomous car. At this time, we used the wall following method.

• The wall following method is controlling the car to keep the distance from the wall using ROS which can subscribe to the LiDAR data and publish the steering angle to move the autonomous car.

Second, we implemented the gap following method.

• The gap following method is controlling the car to move toward the point which is most far among the largest gap using ROS.

Third, we implemented the pure pursuit control using the optimal path in the gym simulation environment.

• The Pure Pursuit Control is the path tracking algorithm to choose the target point in look-ahead distance.

Fourth, we performed the controlling autonomous car in the real environment.

• We performed the controlling in Kyeong dong Hall in UNIST Bldg. 201.