SAE-GFR Integration of racecar inertia measurement unit (IMU) with RTK capabilities
Project Number: 502
Subsystem: Autonomous Sensors
Faculty Advisor: Joseph Piacenza
Owner of IP: Oregon State Formula SAE Team
Team Composition: 1 CS or ECE Student
Odometry and localization are two important aspects of understanding where the vehicle is in the world. An accurate IMU is essential for SLAM to run, and will greatly improve the performance of our software. The project will be to integrate a commercial IMU with RTK with both the base vehicle for low-level controls, and the autonomous software for localization. The project will also focus on characterizing the performance of the individual sensors in the IMU.
Objectives
- Fall
- Background research of previous projects and relevant papers completed.
- Github and development environment set up.
- ROS tutorial and assignment completed.
- Design changes conceptualized.
- Practice for participation in rules quiz.
- Documentation for any changes made during Fall.
- Winter
- Final documentation for code completed - details on wiki as well.
- Testing and benchmarking completed and documented.
- UML Diagram detailing system.
- Final edits to the code by May.
Motivations
This project will allows an autonomous vehicle to better locate itself and therefore localize and map better.
Qualifications
Minimum Qualifications:
None Listed Preferred Qualifications:
None Listed
Details
Project Partner:
Marcus Wheeler
NDA/IPA:No Agreement Required
Number Groups:1
Project Status:Accepting Applicants
Website:https://www.global-formula-racing.com/en/
