Racetrack Lane Following Control

Autonomous driving on Turtlebot3 with bird's-eye-view and ArUco pose estimation.

Racing Demo

ArUco Marker as the Stop Sign

Controllers

A PID controller and a nonholomonic mobile feedback controller are implemented in the controllers.py, and a Neumaier's moving window filter is implemented in the moving_window_filter.py.

Quick Start

1. Clone and add this package to your catkin workspace

   cd ~/catkin_ws/src
   git clone git@github.com:silvery107/racetrack-lane-following-control.git
   cd ..
   catkin_make
   

2. Export models and launch the racetrack in gazebo

   export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/racetrack-lane-following-control/models
   roslaunch racetrack_lane_following race_track.launch
   

3. Add the execute permission for python nodes in the src folder

   cd src/racetrack-lane-following-control/src
   chmod +x lane_following_part1.py
   chmod +x lane_following_part2.py
   chmod +x lane_following_part3.py
   

Part I: Driving in the Racetrack

rosrun racetrack_lane_following lane_following_part1.py

Part II: Driving with Bird's Eye View

rosrun racetrack_lane_following lane_following_part2.py

Part III: Stop Sign with ArUco Marker

rosrun racetrack_lane_following lane_following_part3.py

Compatibility

• ROS Melodic / Noetic
• Python 2 / 3