This repository contains software for 1/10th scale autonomous race cars to compete in the F1/10 competition. It is developed by the Autonomous Racing Project Group of TU Dortmund.
- For general information and documentation check out our wiki page.
- For source code documentation check out the auto-generated Doxygen documentation.
We provide several LIDAR based driving algorithms:
- Fast and efficient wallfollowing based on fitting circles into the LIDAR scan
- Sensorfusion of ZED camera and LIDAR data
- Boxing of sensor data
- Voxel based obstacle detection (experimental)
- Heavy workload code is in C++
- Full telemetry logging and HUD display
- Report creation of telemetry data
- ROS navigation stack based implementation that uses SLAM, a precalculated map and path planning
- Deep Reinforcement Learning (Q-Learning and Policy Gradient)
- Neural Networks with evolutionary training
- Depth camera support
- Video recording
- Huge set of display options in RViz
- Management script
Our software works on physical hardware and in a simulated environment using Gazebo. Further features are:
- Automatic emergency braking
- Dead Man's Switch
- Teleoperation via keyboard, Xbox and Playstation controller
- Speedometer and Lap Timer
We also added some more stuff not directly connected to the software, please check out the wiki for more information.
Our car is based on a 1/10th scale RC car (Traxxas Ford Fiesta) with these additions:
- CPU/GPU board (NVIDIA Jetson)
- motor controller (FOCBOX)
- LIDAR scanner (Hokuyo UST-10LX)
- an inertial measurement unit (Invensense MPU-9250)
- Brushless DC motor (replaces the standard brushed motor)
- Stereo camera (ZED)
This project (excluding git submodules) is under MIT and GPLv3 dual licensed - see the MIT.LICENSE and GPLv3.LICENSE file for details.
