Architecture design and implementation of image based autonomous car: THUNDER-1

摘要

Autonomous driving with high velocity is a research hotspot which challenges the scientists and engineers all over the world. This paper proposes a scheme of indoor autonomous car based on ROS which combines the method of Deep Learning using Convolutional Neural Network (CNN) with statistical approach using liDAR images and achieves a robust obstacle avoidance rate in cruise mode. In addition, the design and implementation of autonomous car are also presented in detail which involves the design of Software Framework, Hector Simultaneously Localization and Mapping (Hector SLAM) by Teleoperation, Autonomous Exploration, Path Plan, Pose Estimation, Command Processing, and Data Recording (Co- collection). what's more, the schemes of outdoor autonomous car, communication, and security are also discussed. Finally, all functional modules are integrated in nVidia Jetson TX1.