This paper presents the design of a research platform for autonomous driving applications, the Delft’s Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for on-board navigation and control while keeping it cost-effective and easy to replicate. To develop DART, we built on an existing off-the-shelf model and augmented its sensor suite to improve its capabilities for control and motion planning tasks. We detail the hardware setup and the system identification challenges to derive the vehicle’s models. Furthermore, we present some use cases where we used DART to test different motion planning applications to show the versatility of the platform. Finally, we provide a git repository with all the details to replicate DART, complete with a simulation environment and the data used for system identification.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    DART: A Compact Platform for Autonomous Driving Research


    Beteiligte:
    Lyons, Lorenzo (Autor:in) / Niesten, Thijs (Autor:in) / Ferranti, Laura (Autor:in)


    Erscheinungsdatum :

    02.06.2024


    Format / Umfang :

    4646134 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Towards a viable autonomous driving research platform

    Wei, Junqing / Snider, Jarrod M. / Kim, Junsung et al. | IEEE | 2013


    TOWARDS A VIABLE AUTONOMOUS DRIVING RESEARCH PLATFORM

    Wei, J. / Snider, J. / Kim, J. et al. | British Library Conference Proceedings | 2013