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

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)

Self-Driving Software + Carla Simulator

Want to learn more about self-driving car simulators? Check out this blog post. Simulators are crucial in developing a good self-driving system. Not everyone will have access to quality self-driving hardware platforms, therefore software simulator is a nature incubator for cutting-edge research and development.

GPS Localization with ROS, rviz and OSM

When you place a robot in a known environment, the robot should be able to localize itself, meaning it could compute the approximate position of itself using sensors and algorithms. Localization is crucial to self-driving vehicles, which requires incredible precision. GPS (Global Positioning System) is one of the first steps to localization. However, the system is… Continue reading GPS Localization with ROS, rviz and OSM

Visualizing Open Street Map Data with ROS & rviz

Localization and path planning are two of the most important components in autonomous robots. Robot Operating System provides a great foundation for working with maps and path planning. In this post, I will talk about how to use data provided by Open Street Map (OSM) and to visualize the osm data using rviz. I still… Continue reading Visualizing Open Street Map Data with ROS & rviz

Migrating to ROS — Hello, Robot Operating System

Our goal has always been to create the best autonomous driving software possible on a small scale. A critical component of that goal is to write conventional code and use industry standard libraries. This is one of the reasons why I am working on integrating ROS into the self-driving golf cart. Once the project is fully… Continue reading Migrating to ROS — Hello, Robot Operating System

Building a Cargo Box for the Golf Cart (Part 2)

Introduction This is part 2 of the two parts series of how we built a cargo box for the golf cart. If you haven't seen part 1, it's right here! In part two, I will mainly talk about how I mounted the cargo box on the golf cart. Pictures Here are some pictures of the… Continue reading Building a Cargo Box for the Golf Cart (Part 2)

Building a Cargo Box for the Golf Cart (Part 1)

Introduction After I purchased the new computer for the golf cart, I have been looking for a place to put the computer and batteries. I drew inspirations from other projects and other golf carts, and eventually landed on this plan: build a wooden cargo box. Here is an example of a cargo box for a… Continue reading Building a Cargo Box for the Golf Cart (Part 1)

Building a New Computer for the Golf Cart

Introduction In the past week or so, I have been building and setting up a new computer for the golf cart. Now, this new machine is fully set up and ready to go. Next week, I will finish building a cargo box on the back of the golf cart where the computer will be placed.… Continue reading Building a New Computer for the Golf Cart