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)