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Technical Report of 1:10 Scale Autonomous Vehicle Robot

Amirhossein Kheiri Holighi, Seyed Sobhan Hosseini Hajibekandeh, Amirhossein Gholizadeh Behbahani, Kian Khatibi, Saina Najafi Shabestari, Ghazal Ghoreishi, Aria Dadnavi, Saba Sadeghi, Shahriar Karimi Makhsous, Matin Jamshidi, Mandana Shabanzadeh Nasrolah Abadi, Mohammad Hossein Moaiyeri

TL;DR

Auriga Robotics' autonomous vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for precision, and a range of sensors for autonomous navigation, developed at Shahid Beheshti University.

Abstract

This paper presents Auriga Robotics' autonomous vehicle, developed at Shahid Beheshti University's Robotics and Intelligent Automation Lab, as part of the team's entry for the 2024 RoboCup IranOpen competition. The vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for precision, and a range of sensors for autonomous navigation. Key hardware includes ESP32 microcontrollers that manage motor control and sensor data acquisition. The software system integrates computer vision, including YOLOv8 for sign detection and PiNet for lane detection, combined with control algorithms such as the Stanley, PID, and Pure Pursuit controllers. The vehicle's design emphasizes real-time decision-making, environmental mapping, and efficient localization, ensuring its ability to navigate complex driving scenarios.

Technical Report of 1:10 Scale Autonomous Vehicle Robot

TL;DR

Auriga Robotics' autonomous vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for precision, and a range of sensors for autonomous navigation, developed at Shahid Beheshti University.

Abstract

This paper presents Auriga Robotics' autonomous vehicle, developed at Shahid Beheshti University's Robotics and Intelligent Automation Lab, as part of the team's entry for the 2024 RoboCup IranOpen competition. The vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for precision, and a range of sensors for autonomous navigation. Key hardware includes ESP32 microcontrollers that manage motor control and sensor data acquisition. The software system integrates computer vision, including YOLOv8 for sign detection and PiNet for lane detection, combined with control algorithms such as the Stanley, PID, and Pure Pursuit controllers. The vehicle's design emphasizes real-time decision-making, environmental mapping, and efficient localization, ensuring its ability to navigate complex driving scenarios.

Paper Structure

This paper contains 26 sections, 6 equations, 12 figures, 1 table.

Table of Contents

  1. Introduction
  2. Hardware Description
  3. Mechanical Design
  4. Car Chassis
  5. Car Body
  6. Power Transmission and Steering
  7. Electrical Design
  8. Control Board
  9. Sensors
  10. Algorithm and Software Description
  11. Embedded System Design
  12. Computer Vision
  13. Camera Calibration
  14. Line Detection
  15. Sign Detection
  16. ...and 11 more sections

Figures (12)

  • Figure 1: Photo of the robot.
  • Figure 2: Mechanical structure of robot: (a) Car chassis; and (b) Car body.
  • Figure 3: Control board PCB layout: (a) Top Side; and (b) Bottom Side.
  • Figure 4: RTOS task scheduling timeline: (a)Core 0; and (b)Core 1.
  • Figure 5: Embedded system architecture.
  • ...and 7 more figures