DART: A Compact Platform For Autonomous Driving Research
CoRR(2024)
摘要
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.
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