F1TENTH - Learn
latest
Getting Started
Start Here!
Overview
Introduction
Syllabus
Modules
Module A: Introduction to ROS, F110 & the Simulator
Lecture 1 - Introduction to Autonomous Driving: Perception, Planning Control
Tutorial 1: Introduction to ROS2
Lecture 2 - Automatic Emergency Braking
Tutorial 2 - Introduction to F1TENTH Simulator
Lecture 3 - Rigid Body Transformation
Tutorial 3 - ROS2 and tf2
Module B: Reactive Methods
Lecture 4 - Laplace Domain Dynamics & PID
Tutorial 4 - Getting to know the car and battery & safety
Lecture 5 - Follow the Gap: Obstacle Avoidance
Lecture 6 - Vehicle States and Vehicle Dynamics
Module C: Mapping & Localization
Lecture 7 - Filtering
Lecture 8 - Localization: Particle Filter
Lecture 9 - Introduction to Graph-based SLAM
Tutorial 5 - Running slam_toolbox and pf
Lecture 9 (Optional) - Scan Matching I & II
Module D: Planning & Control
Lecture 10 - Pure Pursuit
Lecture 11 - Local Planning: RRT, Spline Based Planner
Module E: Vision
Lecture 12 - Classical Perception
Lecture 13 - Machine Learning Perception
Module F: Special Topics
Lecture 20 - Raceline Optimization
Lecture 21 - Model Predictive Control
Lectures 22 - Moral Decision Making
Lectures 23-25 - Special Topics
Module G: F1TENTH Grand Prix!!
Lecture 26 - Project Demos
Lecture 27 - Race Prep
Lecture 28 - Race 3: F1TENTH Grand Prix!
Material Downloads
Assignments
Labs
Lab 1 - Introduction to ROS2
Lab 2 - Automatic Emergency Braking
Lab 3 - Wall Following
Lab 4 - Follow the Gap
Lab 5 - SLAM and Pure Pursuit
Lab 6 - Motion Planning
Lab 7 -Perception & Vision
Lab 8 - Perception and Planning
Lab 9 - Robot Ethics
Lab 5 - Scan Matching (Optional)
Solutions
Races
Race 1
Race 2
Race 3
Final Project
Grading Rubrics
Labs & Final Project
Races
Race 1 and Race 2
Race 3
Support
Logos
Contact
Acknowledgements
F1TENTH - Learn
Labs
Lab 5 - SLAM and Pure Pursuit
Edit on GitHub
Lab 5 - SLAM and Pure Pursuit
¶
Repository:
Github Repository