F110 Workspace Description

We are a group of students from Ecole Polytechnique working on a collective scientific project:

[PSC f1tenth (Tianyang HUANG, Maroun Rami, El Mallah Rim, Bouillé Aude) X20].

More on f1tenth here : https://f1tenth.org/.

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Environment (single racecar) : Ubuntu 20.04 arm64 with ROS noetic

Gym Environment (multiple racecars): Ubuntu 18.04.6 amd64 with ROS melodic

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Author of source code & ReadMe : Tianyang HUANG(NicolasHHH)

Feel free to contact tianyang.huang@polytechnique.edu

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To compile :

pull the source code and delete the build and install directories. then do catkin_make within the workspace.

Some overviews:

• 1:10 racing car (Nvidia Jetson, Hkuyo Lidar, RGBD camera)

• Real-time racing simulation (f1tenth_gym_ros & f1tenth_quickstart)

Implementations :

Head to Head Racing

• Head to head Racing
  --> f1tenth_gym

Navigation

• Pure Pursuit----⭐️⭐️
  --> High speed path following

• RRT------------⭐️⭐️⭐️
  --> Dynamic Obstacle Avoidance + Randomized path planning

• RRT+BFS-------⭐️⭐️⭐️⭐️
  --> Dynamic Obstacle Avoidance + Rapide path planning

• TEB------------⭐️⭐️⭐️⭐️⭐️ --> Dynamic Obstacle Avoidance + Time Optimal path planning + Backward Enabled

• Gap Follow-----⭐️⭐️
  --> Dynamic Obstacle Avoidance

SLAM

• Cartographer - SLAM
• Cartographer - Adaptation to real environment Mapping
• Cartographer - Pure Localization
• Localization with amcl
• Occupancy Grid
• Scan Matching

Turtlebot3

• Turtlebot3 Navigation
• Turtlebot3 SLAM + Random Walk

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• 1:10 racing car (Nvidia, Hkuyo Lidar, RGBD camera)

• Real-time racing simulation (f1tenth_gym_ros & f1tenth_quickstart)

Head to Head Racing

• f1tenth_gym with path visualization

TEBTEB720p.mp4

Navigation

• Pure Pursuit: High speed path following

Pure.Pursuit.mp4

• RRT+BFS: Dynamic Obstacle Avoidance + Rapide path planning

DFS.mp4

• TEB planner：Backward planning Enabled + Dynamic Obstacle Avoidance + Time Optimal path planning

teb-circuit.mp4

TEB.mp4

SLAM (simultaneous localization and mapping)

• Cartographer - SLAM:

Cartographer_Mapping.mp4

• Cartographer - Adaptation to real environment Mapping:

• Cartographer - Pure Localization:

Pure_Localization.mp4

• Localization with amcl:

Mon.film-540p30.mov

• Occupancy Grid

Occupancy.Grid.mp4

• Scan Matching

Scan_Matching.mp4

• Gap follow

Gap.follow.mp4

Turtlebot3

• Turtlebot3 Navigation

Navigation_demo.mp4

• Turtlebot3 SLAM + Random Walk

Random_Walk_demo.mp4