{"id":296,"date":"2017-11-18T02:36:53","date_gmt":"2017-11-18T02:36:53","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/?page_id=296"},"modified":"2017-11-18T02:36:53","modified_gmt":"2017-11-18T02:36:53","slug":"vehicle-2","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/vehicle-2\/","title":{"rendered":"Vehicle"},"content":{"rendered":"<h2>Implementation Details<\/h2>\n<h3>Vehicle<\/h3>\n<p>The majority of the work done on the vehicle was completed last year by Team Lo-Co, which can be seen <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/\">here<\/a>.<\/p>\n<p>Our &#8220;implementation details&#8221; are a series of trial-and-error haps and mishaps.\u00a0 The Lo-Co is a complicated system with many subsystems of its own that took some time to crack.<\/p>\n<p>The first step was learning how to communicate with the vehicle.\u00a0 This required using the special Team_Loco_2.4 router which communicates with the onboard Jetson TX1.\u00a0 With each of these powered in, you can ssh into the tx1 from your local machine.<\/p>\n<p>Next, we had to learn how to make the vehicle obey our commands.\u00a0 Teleoperation was easy, but our attempts to run the car with the open_loop launch file led to some ugly crashes early on.<\/p>\n<p>It took some digging in, but we learned over time how to work with the .pgm map files that allow the vehicle to localize itself using the adaptive monte carlo localizer.\u00a0 This allowed us to utilize the iterative linear quadratic regulator control scheme that the Loco team implemented.<\/p>\n<p>After a little tuning for the yaw control, we are ready to run our vehicle to the waypoint as specified in our fall validation experiment:<\/p>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-296-1\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-content\/uploads\/sites\/26\/2017\/11\/Vehicle_traj_compressed_trim.mp4?_=1\" \/><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-content\/uploads\/sites\/26\/2017\/11\/Vehicle_traj_compressed_trim.mp4\">http:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-content\/uploads\/sites\/26\/2017\/11\/Vehicle_traj_compressed_trim.mp4<\/a><\/video><\/div>\n<p>What remains is teaching this vehicle to avoid pedestrians!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Implementation Details Vehicle The majority of the work done on the vehicle was completed last year by Team Lo-Co, which can be seen here. Our &#8220;implementation details&#8221; are a series of trial-and-error haps and mishaps.\u00a0 The Lo-Co is a complicated system with many subsystems of its own that took some time to crack. The first<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/vehicle-2\/\">+ Read More<\/a><\/p>\n","protected":false},"author":112,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-296","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/296","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/users\/112"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/comments?post=296"}],"version-history":[{"count":1,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/296\/revisions"}],"predecessor-version":[{"id":298,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/pages\/296\/revisions\/298"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teame\/wp-json\/wp\/v2\/media?parent=296"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}