DARPA[Boss]: Boss and the Urban Challenge

 Boss 自动驾驶软硬件概述。

Overview

  • 软件概述
    • Motion planning sub-system
      ==> 2 planners: avoiding static and dynamic obstacles while achieving a desired goal(最终都是产生一条 trajectory)
      • structured driving: road following
      • unstructured driving: maneuvering in parking lots(停车场等的机动控制)
    • Perception sub-system

[0024] Iterative Closest Points(迭代最近点)

ICP 算法简介

  • 点云配准 说起

     Point cloud registration, is the process of finding a spatial transformation that aligns two point clouds. The purpose is to merge point clouds of multiple views into a globally consistent model.
     Iterative Closest Points (ICP) is an algorithm employed to minimize the difference between two clouds of points. In the algorithm, target point cloud, is kept fixed, while the other one, the source, is transformed to best match the reference (the target). The algorithm iteratively revises the transformation (combination of translation and rotation) needed to minimize the distance from the source to the reference point cloud.

嵌入式系统导论[02] 浅谈 System C

 SystemC 是一种基于 C++ 语言的用于 系统设计 的计算机语言,是用 C++ 编写的一组库和宏。为了更好的了解 SystemC 的用途,我们先从集成电路(IC:通用集成电路、专用集成电路)设计的一些基础讲起,谈谈 SystemC 在 IC 设计流程中的定位;通过对比 SystemC 和我们更为熟悉的 Verilog,进一步了解 SystemC

初识ROS自主导航

  To add navigation to a robot, we need to launch 3 nodes:

  • map_server: to provide the static map {“*.yaml” & “*.pgm”}, against which the robot will localize and plan.
  • amcl: to localize the robot against the static map.
  • move_base: to handle global planning and local control for the robot.

  amcl 是移动机器人二维环境下的概率定位系统,它实现了自适应(或 kdl 采样)的 蒙特卡洛定位 方法,其中针对已有的地图使用 粒子滤波器 跟踪一个机器人的姿态。

  move_base 提供了 ROS 导航的配置,运行,交互接口,主要包括两个部分:

 (1) 全局路径规划:根据给定的目标位置进行总体路径的规划
 (2) 局部路径规划:根据附近的障碍物信息进行躲避路线规划