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F1/10 Autonomous Racing

The goal of the OSU F1/10 Team is to build a vehicle capable of racing autonomously in an unknown track using a set of sensors. The name F1/10 rises from the fact that the vehicle is a 1/10 of the size of an F1 race car [1]-[3]. This project allows students to work on very different topics:

  • Simultaneous Localization And Mapping (SLAM), sensor fusion and real-time data acquisition. Initially the vehicle was only equipped with a LIDAR, now IMU and a 3D camera are being integrated;
  • Path planning and high level control: the goal is for the vehicle to complete a course as fast as possible without hitting walls/obstacles;
  • Low level control for speed and steering control;
  • ROS: the control board is programmed using ROS;
  • System simulations in Gazebo environment.

Preliminary Results

A team of MS students developed a first prototype of the vehicle that can race autonomously using a LIDAR sensor. The vehicle transmits data remotely using a 802.11g/n access point so that it is possible to visualize performance data remotely as the vehicle is racing (e.g. data from the LIDAR).

First prototype of the OSU F1/10 vehicle (left); real time data collected from the LIDAR as the vehicle moves autonomously around the Dreese Lab corridors (right).


Current and Future Work

A team of MS Students and a PhD student is currently working on improving the first prototype of the vehicle. In particular, the main focus is on including more sensors, namely an IMU and 3D camera, and on improving the path planning and high level control algorithm.

If you are interested in:

  • Sensor fusion and real-time data acquisition;
  • Simultaneous Localization And Mapping;
  • Path planning and high level control;
  • Coding in ROS; and/or
  • System simulations in Gazebo environment

please contact me to join the team.

 

Team that developed the first prototype.


[1] http://f1tenth.org/index

[2] http://mlab-upenn.github.io/f110/index.html

[3] http://racecar.mit.edu