[Project] 2023 R-biz 배달의민족 로봇배달챌린지(2023.09.13.~10.14.): Team AuTURBO

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