Autolabor-Simulation

Introduction

The project is the simualtion of SLAM (including positioning and mapping、path planning).what's more,we also implement the object detection function on the Autolabor car. Here's what we did:

• Positioning and mapping indoors using Gmapping algorithm
• Positioning and mapping outdoors using catographer algorithm
• path planing using DWA and A* algorithms
• object detection using YoloV3 algorithm
• modeling of Autolabor car in solidworks2018

Requirement

• Ubuntu16.04LTS
• ROS-kinetic
• A GPU with 2GB memory minimum
• Python3
• GCC

Content Tree

|-- src
|   |-- CMakeLists.txt
|   |-- autolabor_description       Autolabor model
|   |-- autolabor_driver            Autolabor driver
|   |-- autolabor_keyboard_control  keyboard_control 
|   |-- autolabor_navigation        path planing
|   |-- autolabor_teleop            keyboard_control 
|   |-- autolabor_world             the world map
|-- build                           config 
|-- devel                           config

Results

Autolabor Model Gmapping Catographer Navigation World_map YoloV3