AV2

Getting Started

  • Quick Start
    • 1. Clone the Repository
    • 2. Create Virtual Environment
    • 3. Install Dependencies
    • 4. Verify Sensor Connections
    • 5. Run a Basic Test
    • 6. Run Autonomous Navigation
    • Next Steps
  • Installation
    • System Requirements
      • Operating System
      • Hardware
    • Step 1: System Packages
    • Step 2: NVIDIA Drivers & CUDA
    • Step 3: Python Environment
    • Step 4: Python Dependencies
    • Step 5: Xsens SDK Installation
    • Step 6: Verify Installation
    • Troubleshooting
      • CUDA not detected
      • Permission denied on serial ports
      • OSMnx import error
    • Next Steps
  • Dependencies
    • Python Version
    • Core Dependencies
      • Scientific Computing
      • Computer Vision
      • Deep Learning
      • Navigation & Mapping
      • 3D Visualization
      • Hardware Interfaces
      • Configuration
    • requirements.txt
    • System Dependencies
    • Optional Dependencies
  • First Run
    • Pre-Flight Checklist
      • Hardware
      • Software
    • Step 1: Activate Environment
    • Step 2: Sensor Verification
      • GPS/IMU (Xsens)
      • LIDAR (Velodyne)
      • Vehicle Actuator (Teensy)
    • Step 3: Visualization Test
    • Step 4: Manual Control Test
    • Step 5: First Autonomous Run
    • Stopping the System
      • Normal Shutdown
      • Emergency Stop
    • Reviewing Logs
    • Common First-Run Issues
      • No GPS Fix
      • LIDAR No Data
      • Vehicle Doesn’t Respond
    • Next Steps

Hardware

  • Sensors
    • Xsens MTi-630 (GPS/IMU)
    • Velodyne VLP-16 (LIDAR)
    • Intel RealSense D435
  • Computing
    • Main Computer
    • Distributed CAN Control
      • CAN Message IDs
      • Serial Commands (to CAN Master)
      • Teensy 4.1 Specs
      • Waveshare CAN Transceiver
  • Actuators
    • Steering (0x200)
    • Throttle (0x100)
    • Brake (0x300)
    • E-STOP Behavior
  • Firmware
    • Source Files
    • Dependencies
    • Master Node
    • Steering Node
    • Throttle Node
    • Brake Node
    • Flashing
  • Wiring
    • Sensor Connections
    • CAN Bus Wiring
      • Teensy to Waveshare
    • Node Pin Assignments
    • Wire Colors
  • Power System
    • Auxiliary Battery (12V)
    • Power Consumption
    • Fuses
    • Watchdog Timeouts

Mechanical

  • Vehicle Specifications
    • Vehicle Overview
    • Physical Dimensions
    • Kinematic Parameters
      • Speed Limits
      • Acceleration Limits
      • Steering Geometry
      • Turning Radius Calculation
    • Collision Geometry
    • Weight Distribution
    • Tire Specifications
    • Configuration in Code
    • Measurement Procedure
      • Wheel Base
      • Turning Radius
      • Weight
  • Sensor Mounting
    • Overview
    • Sensor Positions Summary
    • Velodyne VLP-16 (LIDAR)
      • Mounting Position
      • Orientation
      • Mounting Requirements
      • Field of View Clearance
    • Xsens MTi-630 (GPS/IMU)
      • Mounting Position
      • Orientation
      • Mounting Requirements
      • GPS Antenna Placement
    • Intel RealSense D435 (Camera)
      • Mounting Position
      • Orientation
      • Mounting Requirements
    • Calibration
      • Extrinsic Calibration
      • Calibration Procedure
    • Transformation Matrices
  • Coordinate Systems
    • Overview
    • Frame Summary
    • Vehicle Frame
      • Definition
      • Usage
    • World Frame (UTM)
      • Definition
      • UTM Projection
      • Vehicle Heading
    • LIDAR Frame
      • Definition
      • Transformation
    • Camera Frame
      • Definition
      • Transformation to Vehicle Frame
    • Occupancy Grid Frame
      • Definition
      • Grid to World Transformation
    • Common Transformations
      • GPS to Vehicle Relative
      • LIDAR Point to World
    • Reference Standards

Software

  • Architecture
    • System Overview
      • Design Principles
    • Module Hierarchy
    • Main Control Loop
    • Thread-Safe State
      • VehicleState
      • PerceptionState
    • Sensor Abstraction
    • Configuration System
      • YAML Configuration
      • Dataclasses
    • Error Handling
      • Sensor Failures
      • Safe Mode
    • Logging
    • Performance Considerations
      • Timing
      • Bottlenecks
      • Optimization Tips
  • Perception
    • Overview
    • Occupancy Grid
      • Algorithm
      • Implementation
      • Parameters
    • YOLOPv2 Detection
      • Tasks
      • Architecture
      • Usage
      • Output Format
      • Performance
    • Inverse Perspective Mapping
      • Theory
      • Usage
      • Configuration
    • Perception Pipeline Integration
  • Planning
    • Overview
    • Route Planning (OSMnx)
      • How It Works
      • Usage
      • Implementation
      • Coordinate Systems
    • Dynamic Window Approach (DWA)
      • Algorithm Overview
      • Dynamic Window
      • Cost Function
      • Implementation
      • Configuration
      • Tuning Guide
    • Path Integration
  • Control
    • Overview
    • Pure Pursuit Controller
      • Algorithm
      • Implementation
      • Parameters
      • Tuning Guide
    • Velocity Control
      • Simple Proportional Control
      • PID Control
    • Vehicle Actuator
      • Connection
      • Commands
      • Safety Features
    • Control Loop Integration
  • Sensors
    • Overview
    • Sensor Interface Base Class
    • Xsens GPS/IMU Interface
      • Initialization
      • Available Methods
      • Threading Model
      • RTK Wait
    • Velodyne LIDAR Interface
      • Initialization
      • Getting Point Cloud
      • Implementation
    • Camera Interfaces
      • RGB Camera
      • RGB-D Camera (RealSense)
      • Camera Frame Dataclass
      • Camera Adapter
    • Sensor Fusion Example
  • Visualization
    • Overview
    • GPS Visualizer
      • Usage
      • Features
      • Implementation
    • Occupancy Grid Visualizer
      • Usage
      • Features
      • Implementation
    • Open3D Point Cloud Viewer
      • Usage
      • Features
      • Implementation
    • BEV (Bird’s Eye View) Viewer
      • Usage
    • Combined Visualization
    • Performance Tips

Configuration

  • DWA Configuration
    • Configuration File
    • Parameter Reference
      • Vehicle Parameters
      • Cost Weights
    • Tuning Guide
      • For Narrow Spaces
      • For Open Areas
  • Sensor Calibration
    • Camera Intrinsic Calibration
      • Equipment Needed
      • Procedure
    • Camera-LIDAR Extrinsic Calibration
      • Procedure
    • GPS Antenna Lever Arm
      • Measurement
    • Steering Calibration
      • Procedure
  • Vehicle Parameters
    • Core Parameters
      • Wheel Base
      • Maximum Steering Angle
    • Speed Limits
    • Collision Geometry
    • Updating Parameters

Theory

  • Pure Pursuit Algorithm
    • Introduction
    • Geometric Derivation
    • Lookahead Distance
    • Stability Analysis
    • Limitations
    • References
  • Dynamic Window Approach
    • Introduction
    • Algorithm Overview
    • Dynamic Window
    • Trajectory Simulation
    • Objective Function
    • Admissible Velocities
    • References
  • Bayesian Occupancy Grids
    • Introduction
    • Probability Representation
    • Log-Odds Representation
    • Bayesian Update
    • Temporal Decay
    • References
  • Coordinate Transforms
    • Homogeneous Coordinates
    • Transformation Matrices
    • Rotation Matrices
    • UTM Projection
    • Vehicle Frame Transform

Tutorials

  • Basic Navigation
    • Prerequisites
    • Step 1: Start the System
    • Step 2: Verify GPS
    • Step 3: Choose Destination
    • Step 4: Launch Navigation
    • Step 5: Monitor Progress
    • Step 6: Safe Shutdown
    • Troubleshooting
    • Next Steps
  • Obstacle Avoidance
    • Overview
    • Enabling Obstacle Avoidance
      • Step 1: Verify LIDAR
      • Step 2: Enable in Runner
      • Step 3: Configure Parameters
    • Testing
      • Static Obstacles
      • Dynamic Obstacles
    • Tuning
  • Custom Routes
    • Creating Waypoint Files
      • CSV Format
      • UTM Format
    • Loading Custom Routes
    • Recording Routes
  • Tuning Controllers
    • Pure Pursuit Tuning
      • Key Parameters
      • Symptoms and Solutions
    • DWA Tuning
      • Cost Weight Adjustment
    • Logging for Analysis

Reference

  • API Reference
    • Overview
    • Core Modules
      • runner
      • xsens_class
      • osmnx_class
      • pure_pursuit_controller
      • vehicle_actuator
    • Perception Modules
      • perception.occupancy_grid
      • perception.state
      • perception.core_types
    • Planning Modules
      • planning.dwa_planner
    • Sensor Modules
      • sensors.lidar_interface
      • sensors.camera_interface
  • Common Issues
    • GPS Issues
      • No GPS Fix
      • RTK Not Converging
    • LIDAR Issues
      • No Point Cloud Data
      • Sparse Point Cloud
    • Control Issues
      • Vehicle Doesn’t Move
      • Steering Oscillation
    • Software Issues
      • Import Errors
  • Sensor Debugging
    • GPS/IMU Debugging
      • Check Connection
      • View Raw Data
    • LIDAR Debugging
      • Network Check
      • View Point Cloud
    • Camera Debugging
      • List Cameras
      • Test Capture
  • Contributing
    • Getting Started
    • Development Setup
    • Pull Request Process
    • Code Review
  • Code Style
    • Python Style
      • Formatting
      • Linting
    • Docstrings
    • Type Hints
    • Naming Conventions

Appendix

  • Glossary
  • References
    • Papers
      • Path Tracking
      • Local Planning
      • Occupancy Grids
      • Deep Learning
    • Documentation
    • Standards
  • Changelog
    • Version 1.0.0 (2024)
      • Features
      • Hardware Support
    • Previous Versions
      • Development History
AV2
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