wiki:Other/Summer/2021/SelfDrivingVehicle

Version 13 (modified by sandeepalankar, 3 years ago) ( diff )

Self-Driving Vehicle

    Self-Driving Vehicle

    WINLAB Summer Internship 2021

    Group Members: Zhuohuan Li, Sandeep Alankar, Anthony Siu, Adas Bankauskas, Malav Majmudar, Abia Mallick, Lohith Bodipati, Rohan Vij

    Project Website

    https://sa14544.wixsite.com/self-driving-vehicle

    Project Objective

    The goal of this project is to work on building a fully-functional self-driving car. The project includes development of ~1/14 scale vehicles for use as a remote self-driving car testing platform, as well as a virtual simulation environment which will model both the physical vehicles and the testbed environment. Robot Operating System (ROS) will be used for both halves of the project, with the simulation running in Gazebo.

    There are several objectives for this project:

    • Design and implementation of additional sensors for existing vehicles to allow for remote experimentation
    • Incorporation of ROS control into existing car software
    • Use of AI/machine learning algorithms for self-driving behavior
    • Building the actual vehicle at WINLAB and testing its autonomy in a real environment

    Due to current operating status at Rutgers, in-person lab work with the physical hardware will have to wait until later in the summer.

    Week 1 Activities

    • Create ORBIT/COSMOS accounts and become familiar with reserving nodes and performing basic Linux operations
    • Read about how to run ROS and Gazebo Simulator on local machines
    • Week 1 Presentation

    Week 2 Activities

    • Complete ROS tutorial with PuTTY
      • Reserve nodes on intersection and retrieve/plot data from turtlesim
    • Learn about remote graphical access and how to X forward using correct ssh commands
      • Create X image for ROS simulations
    • Learn how to duplicate PuTTY session with tmux and practice basic tmux shortcuts
    • Week 2 Presentation
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