Hacking COMS

オープンソースプラットフォームを使って市販電気自動車で自動運転を実現する方法

抄録

The popularity of autonomous driving has significantly increased in the recent years. In this paper, the authors developed a self-driving car using COMS, a commercially available electric vehicle from Toyota Body, and the open source robotics platform ROS. Actuators were attached to the brake and steering wheel and the wires connected to the ECU are tapped to send accelerator and shift signals from mbed. The authors used Gmapping and Hybrid-State A* for SLAM and path planning, respectively, to achieve autonomous driving of the developed vehicle.