Lab4_Follow_the_Gap

Following the Gap

Lecture_Note / Our Code

Method

Adaptive Scan-Threshold

Adjusting Scan Treshold with minimum range

            {0.15, 0.4},  // Min
            {0.2, 0.8},   
            {0.5, 1.4},   
            {0.8, 1.8},
            {1.1, 2.4},
            {1.4, 2.8},   // Middle range
            {1.7, 3.2},
            {2.0, 3.6},
            {2.3, 3.9},
            {2.6, 4.2},
            {3.0, 4.5}    // Max
 

Limit the View angle

    double left_wing = M_PI / 2.7;
    double right_wing = -(M_PI / 2.7);
 

Simulation Workspace

This is with Bubble Method

Race Track Map

Real World Test

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Reference

F1Tenth_Lab4_Template Disparity Node Method disparity Node Github