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Title: FEUPCAR 2.0: Overview of a Low-cost Robot for Autonomous Driving Competitions
Authors: Vidal,AA
Luís Paulo Reis
António Paulo Moreira
Issue Date: 2013
Abstract: Robotic autonomous driving is a very complex task that tries to replicate the human behavior when performing such task. This paper presents a high-level overview of an architecture applicable for small-scale vehicles in autonomous driving competitions. A special emphasis is given on the sensory and navigation sub-systems since they are the most prominent intelligent decision layers. The former is almost entirely based on computer vision, processing the raw image content from two ordinary and inexpensive "web-cams", conveying further relevant information to the later, on a real-time basis. The proposed architecture was implemented with minimal interventions to an Ackermann-like vehicle which was originally designed for recreational purposes, serving as a "proof of concept" of the developed system. Results show that a low-cost, scalable and modular system can be easily integrated on regular small-scale vehicles obtaining exciting results at a minimal cost.
metadata.dc.type: conferenceObject
Appears in Collections:CRIIS - Other Publications

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