Technical Report of 1:10 Scale Autonomous Vehicle Robot

TL;DR

This report details the development of a 1:10 scale autonomous vehicle with integrated sensors, computer vision, and control algorithms, designed for competitive autonomous navigation in RoboCup IranOpen.

Contribution

It introduces a custom-designed 1:10 scale vehicle with advanced hardware and software integration for autonomous navigation and decision-making.

Findings

Successful implementation of YOLOv8 and PiNet for perception tasks

Effective use of control algorithms like Stanley, PID, and Pure Pursuit

Vehicle capable of navigating complex scenarios in competition environment

Abstract

This paper presents Auriga Robotics' autonomous vehicle, developed at Shahid Beheshti University's Robotics and Intelligent Automation Lab, as part of the team's entry for the 2024 RoboCup IranOpen competition. The vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for precision, and a range of sensors for autonomous navigation. Key hardware includes ESP32 microcontrollers that manage motor control and sensor data acquisition. The software system integrates computer vision, including YOLOv8 for sign detection and PiNet for lane detection, combined with control algorithms such as the Stanley, PID, and Pure Pursuit controllers. The vehicle's design emphasizes real-time decision-making, environmental mapping, and efficient localization, ensuring its ability to navigate complex driving scenarios.