Hardware-Software Stack for an RC car for testing autonomous driving algorithms

Shrivastava, Kakul and Inukonda, Maruthi S and Mittal, Sparsh (2019) Hardware-Software Stack for an RC car for testing autonomous driving algorithms. In: Hardware-Software Stack for an RC car for testing autonomous driving algorithms. UNSPECIFIED. (In Press)

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Abstract

In this paper, we report our ongoing work on developing hardware and software support for a toy RC car. This toy car can be used as a platform for evaluating algorithms and accelerators for autonomous driving vehicles (ADVs). We describe different sensors and actuators used and interfacing of them with two processors, viz., Jetson Nano and Raspberry Pi. Where possible, we have used ROS nodes for interfacing. We discuss the advantages and limitations of different sensors and processors and issues related to their compatibility. We include both software (e.g., python code, linux commands) and hardware (e.g., pin configuration) information which will be useful for reproducing the experiments. This paper will be useful for robotics enthusiasts and researchers in the area of autonomous driving.

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