![[Project] 2023 R-biz 배달의민족 로봇배달챌린지(2023.09.13.~10.14.): Team AuTURBO](https://img1.daumcdn.net/thumb/R750x0/?scode=mtistory2&fname=https%3A%2F%2Fblog.kakaocdn.net%2Fdna%2FbNGchL%2FbtsytctLvw2%2FAAAAAAAAAAAAAAAAAAAAAF2iYifLQ3EX0-aOYmkVq1zZuq6T3nHRsbyyQ8SUgjin%2Fimg.jpg%3Fcredential%3DyqXZFxpELC7KVnFOS48ylbz2pIh7yKj8%26expires%3D1753973999%26allow_ip%3D%26allow_referer%3D%26signature%3DnC3yhEP9XPsyxKuopYo7e82Oqis%253D)
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Activity
- Indoor driving based on navigation: 3D maps can be converted into an occupancy map for navigation
- Outdoor driving based on GPS: Implementation of path tracking through pure pursuit compared to GPS location
- Module integration(Sequence Manager): Focus on reusability, reliability and ease of maintenance
SW Architecture
시뮬레이션 환경
- morai simulator
- docker
실내 주행
- SLAM(Fast LIO, projected_map)
- Navigation(move_base)
- Global Planner(A*)
- Local Planner(TEB)
- Object Detection(yolov7)
실외 주행
- Global Planner(GPS Tracking)
- Local Planner(pure_pursuit)
- Object Detection(yolov7)
기타
- control(pure_pursuit)
- behavior tree(Flexbe)
Presentation (2:46:50 ~)
Reference
- [한국로봇산업협회]제 9회 R-BIZ 챌린지 참가자 모집 공고: https://auto-contest.kookmin.ac.kr/
- [Youtube] 2023 국제로봇콘테스트 & R-BIZ Challenge 대회 3일차: https://www.youtube.com/live/B8ZCLpaB-n0?si=YDN7_ZtUqVwmoCqi
- [Github] AuTURB Code: https://github.com/AuTURBO/autonomous-morai-baemin-dilly
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