UruBots自律走行カーチーム2: FIRA 2024チーム記述論文
UruBots Autonomous Car Team Two: Team Description Paper for FIRA 2024
低コスト・軽量なRaspberry Pi4搭載のミニ自律走行カーを開発し、畳み込みニューラルネットワークを学習させて約13mのコースを11秒で走行できることを示した。
著者: William Moraes, Juan Deniz, Pablo Moraes, Christopher Peters, Vincent Sandin, Gabriel da Silva, Franco Nunez, Maximo Retamar, Victoria Saravia, Hiago Sodre, Sebastian Barcelona, Anthony Scirgalea, Bruna Guterres, Andre Kelbouscas, Ricardo Grando
分類: cs.RO
原文アブストラクト
This paper proposes a mini autonomous car to be used by the team UruBots for the 2024 FIRA Autonomous Cars Race Challenge. The vehicle is proposed focusing on a low cost and light weight setup. Powered by a Raspberry PI4 and with a total weight of 1.15 Kilograms, we show that our vehicle manages to race a track of approximately 13 meters in 11 seconds at the best evaluation that was carried out, with an average speed of 1.2m/s in average. That performance was achieved after training a convolutional neural network with 1500 samples for a total amount of 60 epochs. Overall, we believe that our vehicle are suited to perform at the FIRA Autonomous Cars Race Challenge 2024, helping the development of the field of study and the category in the competition.
