Autoparking

Goal

The objective of this exercise is to implement the logic of a navigation algorithm for an automated vehicle. The vehicle must find a parking space and park properly.

Note: If you haven’t, take a look at the user guide to understand how the installation is done, how to launch a RoboticsBackend and how to access the exercises.

Autoparking Autoparking Autoparking
Gallery

Frequency API

  • import Frequency - to import the Frequency library class. This class contains the tick function to regulate the execution rate.
  • Frequency.tick(ideal_rate) - regulates the execution rate to the number of Hz specified. Defaults to 50 Hz.

Robot API

  • import HAL - to import the HAL (Hardware Abstraction Layer) library class. This class contains the functions that send and receive information to and from the Hardware (Gazebo).
  • import WebGUI - to import the WebGUI (Web Graphical User Interface) library class. This class contains the functions used to view the debugging information, like image widgets.
  • HAL.getPose3d() - to get all the position information.
  • HAL.getPose3d().x - to get the position of the robot (x coordinate).
  • HAL.getPose3d().y - to get the position of the robot (y coordinate).
  • HAL.getPose3d().yaw - to get the orientation of the robot with regarding the map
  • HAL.getFrontLaserData() - to obtain the front laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)
  • HAL.getRightLaserData() - to obtain the right laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)
  • HAL.getBackLaserData() - to obtain the back laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)
  • HAL.setV() - to set the linear speed.
  • HAL.setW() - to set the angular velocity.

Laser attributes

HAL.getFrontLaserData(), HAL.getRightLaserData() and HAL.getBackLaserData() returns an instance of a Class with the following attributes:

  • minAngle - Start angle of the scan [rad]
  • maxAngle - End angle of the scan [rad]
  • minRange - minimum range value [m]
  • maxRange - maximum range value [m]
  • values - A list of 180 measurements [m] (Note: values < minRange or > maxRange should be discarded)

Illustrations

Autoparking
Autoparking Web Template

Videos

Demonstrative video of the solution

Contributors