AV2 - Autonomous Vehicle Platform

Welcome to the documentation for AV2, an autonomous vehicle research platform developed at the Autonomous Vehicle Laboratory at California State Polytechnic University, Pomona.

The platform implements a distributed drive-by-wire control system using multiple Teensy 4.1 microcontrollers communicating over a CAN bus network.

Getting Started

• Quick Start
• Installation
• Dependencies
• First Run

Hardware

• Sensors
• Computing
• Actuators
• Firmware
• Wiring
• Power System

Mechanical

• Vehicle Specifications
• Sensor Mounting
• Coordinate Systems

Software

• Architecture
• Perception
• Planning
• Control
• Sensors
• Visualization

Configuration

• DWA Configuration
• Sensor Calibration
• Vehicle Parameters

Theory

• Pure Pursuit Algorithm
• Dynamic Window Approach
• Bayesian Occupancy Grids
• Coordinate Transforms

Tutorials

• Basic Navigation
• Obstacle Avoidance
• Custom Routes
• Tuning Controllers

Reference

• API Reference
• Common Issues
• Sensor Debugging
• Contributing
• Code Style

Appendix

• Glossary
• References
• Changelog