Implementation of Autonomous Driving Algorithms on a Miniature Robot

Abstract

The proposed work mainly attempts to implement numerous image processing algorithms on TurtleBot3 Waffle Pi for autonomous driving using Robot Operating System (ROS). The image processing algorithms used in this work for developing a vision-based system for autonomous driving. Before actual implementation on hardware, the algorithms are first tested in simulation. The time-synchronized data feed is collected from the sensors of the robot. Then the collected data is further processed to perform controlling actions using actuators. The robot's performance is tested and optimized for the same algorithms by varying different parameters in simulation and on a real robot.