Lecture 5 - Follow the Gap: Obstacle Avoidance

Overview:

Challenge: How can we avoid obstacles without a map. We will investigate how we navigate the track while avoiding crashing into static obstacles.

Learning Outcomes:

• Basics of reactive navigation, avoidance on both static and dynamic obstacles. We will learn different heuristics:

  1. Follow the Gap

  2. Disparity Extender

  3. Other Reactive Approaches (Bug and artificial potential fields)

  4. Overview ROS Follow the Gap Lab

Associated Assignment:

• Lab 4: Follow the Gap

You will be ready to tackle your Follow the gap lab in simulation and on the vehicle.

Slides:

Video:

Links to additional resources:

• F1TENTH Simulator Repo

• Build Documentation (VESC Tuning instructions can be found under Installing Firmware > 1. Configuring the VESC)

• Build Support Forum

• Connect with other F1TENTH teams from around the world