Self-Driving Golf Cart: Autonomous Navigation with the ROS Navigation Stack – Part 2: Path Planning

Introduction This is part two of a four-part series about autonomous navigation with ROS (Robot Operating System). In the previous blog post, I discussed the use of RTAB-mapping (real-time appearance-based mapping) in the self-driving vehicle. In this blog post, I will talk about how to plan out a path once we have a high definition… Continue reading Self-Driving Golf Cart: Autonomous Navigation with the ROS Navigation Stack – Part 2: Path Planning

Self-Driving Golf Cart: Autonomous Navigation with the ROS Navigation Stack – Part 1: Mapping

Introduction For the past two years, I have been researching and developing a self-driving golf cart. ROS (Robot Operating System) is an open source, robust, and convenient robotics middleware that I have for the golf cart. In this three-parts-series, I will discuss how I developed the golf cart's autonomous navigation stack with ROS. There are… Continue reading Self-Driving Golf Cart: Autonomous Navigation with the ROS Navigation Stack – Part 1: Mapping

Road Detection with Point Cloud Library and ZED Stereoscopic Vision System

Introduction Road detection plays an integral role in self-driving cars. Accuracy and reliable road detection can pave the road for good path planning. In the self-driving golf cart project, I use two methods to perform road detection. 1. I use semantic segmentation and deep learning to classify each pixel in an image. 2. I use… Continue reading Road Detection with Point Cloud Library and ZED Stereoscopic Vision System

Electronic Braking System – Self-Driving Golf Cart

Introduction A self-driving vehicle requires a robust Drive-By-Wire (DBW) system. DBW allows the vehicle's onboard computer to control the car's motion using electrical signals. Most modern cars already come with a great electronics system. For example, you can even hack into a Toyota Camry and control the braking, throttle, and steering with open source software.… Continue reading Electronic Braking System – Self-Driving Golf Cart

Testing the All-New Autonomous Steering System

Introduction: For the past few months, I have been developing an all-new autonomous steering system for the self-driving golf cart. I not only developed a new deep learning model but also completely modified the hardware design. If you have been following my blog, you might have seen posts related to these topics. In this two-part… Continue reading Testing the All-New Autonomous Steering System

Autonomous Golf Cart Power Steering Using a Linear Actuator (Part 2)

Introduction In part one of this two-part series, I discussed my plan and progress on building a new steering system with a linear actuator. In case you are new to my blog, welcome! I am building a self-driving golf cart, please check out the project page here. 👈 In part 2, I will dive into… Continue reading Autonomous Golf Cart Power Steering Using a Linear Actuator (Part 2)

Autonomous Golf Cart Power Steering Using a Linear Actuator (Part 1)

Introduction One of the most important components of a self-driving car is the drive-by-wire system (DBW). The DBW receives inputs from the onboard computers and execute those commands. In the last iteration of the vehicle, we had a steering, throttle, and braking control as part of the DBW. Even though we demonstrated decent functionality, the… Continue reading Autonomous Golf Cart Power Steering Using a Linear Actuator (Part 1)

YOLO v3 Object Detection With ROS (Robot Operating System)

It has been a while since I published my last blog post. I am back! Life has been a little crazy lately. I am in the midst of my senior year in high school.  Object Detection with YOLO When we talk about object detection, where are really two smaller tasks embedded in one larger task.… Continue reading YOLO v3 Object Detection With ROS (Robot Operating System)

Open Source Projects on Github

Since the very beginning, Michael and I have been dedicated to contributing to the open source community. This Spring, we open sourced the entire repository for the self-driving golf cart project. In order to better host the code base, as well as to provide us with a platform for future research, we registered a Github… Continue reading Open Source Projects on Github