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http://dx.doi.org/10.7746/jkros.2022.17.2.198

Implementation of an Autonomous Driving System for the Segye AI Robot Car Race Competition  

Choi, Jung Hyun (Department of Mechanical and Information Engineering, University of Seoul)
Lim, Ye Eun (Department of Mechanical and Information Engineering, University of Seoul)
Park, Jong Hoon (Department of Mechanical and Information Engineering, University of Seoul)
Jeong, Hyeon Soo (Department of Mechanical and Information Engineering, University of Seoul)
Byun, Seung Jae (Department of Mechanical and Information Engineering, University of Seoul)
Sagong, Ui Hun (Department of Mechanical and Information Engineering, University of Seoul)
Park, Jeong Hyun (Department of Mechanical and Information Engineering, University of Seoul)
Kim, Chang Hyun (Department of Mechanical and Information Engineering, University of Seoul)
Lee, Jae Chan (Department of Mechanical and Information Engineering, University of Seoul)
Kim, Do Hyeong (Department of Mechanical and Information Engineering, University of Seoul)
Hwang, Myun Joong (Department of Mechanical and Information Engineering, University of Seoul)
Publication Information
The Journal of Korea Robotics Society / v.17, no.2, 2022 , pp. 198-208 More about this Journal
Abstract
In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.
Keywords
Autonomous Driving System; Robot Racing Competition;
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Times Cited By KSCI : 1  (Citation Analysis)
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