Simultaneous Localization & Mapping

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Simultaneous Localization & MappingF1/10thAutonomous Racing Paril JainPrevious Week2IMU and LIDARLocalizationPID ControlLimitations : Basic Path Planning High Level Path Assignments 2ndright, 2ndright, 1stright, 1stleft, 1stright 3Race Lines4Limitations : No Future Information5System Overview6MappingLocalizationPath PlanningControlSystem Overview7Hector SLAMMappingLocalizationPath PlanningControlSLAM : A Chicken-Egg problem8MAPLOCALIZATIONLOCALIZATIONMAPOv erview of SLAM9Video provided separately Car running in corridor Map being generated Video will be used for explaining the overview10Occupancy Grid Mapping11Occupied CellFree CellUn-Explored CellMeasurement ModelOccupancy Grid Mapping Measurement : mx,y= 1 LiDAR hitmx,y= 0No occlusion12Occupied CellFree CellUn-Explored CellMeasurement ModelOccupancy Grid Mapping Measurement : mx,y= 1 LiDAR hitmx,y= 0No occlusion13Occupied CellFree CellUn-Explored Cell Map Cell:Z = 1OccupiedZ = 0UnExploredZ = -1FreeMeasurement ModelOccupancy Grid Mapping Measur

Simultaneous Localization & Mapping F1/10th Autonomous Racing Paril Jain. Previous Week 2 IMU and LIDAR Localization PID Control. Limitations : Basic Path Planning • High Level Path Assignments – 2nd right, 2nd right, 1 stright, 1 left, 1st right 3. Race Lines 4. Limitations : No Future Information 5.

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