Midterm project for 2021 Fall Robot Navigation lecture
| Language | OS |
|---|---|
| Python | Ubuntu 18.04 |
You could make same enviromnet using Anaconda.
conda create -n f1tenth python=3.8
conda activate f1tenth
pip install -r requirements.txt
Baseline code can be found at F1Tenth Riders Quickstart.
I improved Gap-follower algorithm. Gap-follower algorithm is one of the reactive method for planning.
If you want to know more about Gap-follower algorithm, click this link.
I make a look-up table for velocity, so this table makes Gap-follower algorithm faster.
My own driver is in pkg/src/pkg/drivers.py.
| Map | Lab time | Rank |
|---|---|---|
| SOCHI | 84.08 | #5 |
| SILVERSTONE | 78.4 | #7 |