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…
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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…
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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…
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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.…
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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…
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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…
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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…
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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.…
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I have been developing a better end-to-end steering prediction system. Eventually, with a new architecture proposed by DeepMind, the software was able to achieve 0.0530 validation RMSE loss, which could land me among the top five teams for the Udacity self-driving challenge.
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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…
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Neil Nie 