FusionAD-v1.0-alpha

Initial Functional Vehicle

The initial iteration of an autonomous vehicle implementation with basic path following and obstacle avoidance.

Capabilities

• GPS Localization
  • Global path generation via geodesy conversions (to ENU)
  • On-board conversion from live GPS data (to ENU)
• Lidar based obstacle detection
  • Ground plane fitting algorithm in place

Future Improvements

• Unit Test for each module
• Robust Path Tracking Contoller
• Increased accuracy and capabilities of obstacle detection, reinforce with camera
• IMU and GPS path planning
• Continuous integration setup
• Cleanup and refactoring