(Ongoing-project) SLAM + Yolo (v.3) + Informed RRT star + MPC path-following

MPC

(Ongoing-project) SLAM + Yolo (v.3) + Informed RRT star + MPC path-following

In this project, an automatic integrated parking system is implemented to address the limitations of modules.

Tags: projects Path-following, MPC, Collision avoidance

Overview

—- Automatic integrated parking system —-

Localization: LeGO-LOAM SLAM
Recognition: Deep learning-based parking lot detection YOLO (v.3) (J. Redmon et al, YOLOv3: An Incremental Improvement, arXiv 1804.02767)
Path planning: Informed RRT star (OMPL)
Path-following: Model predictive controller using a dynamic bicycle model

Simulation and Experimental Results