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In a team of five, we entered a competition to autonomously race our little car around MIT's tunnel system. There were two challenges. The first was to navigate the tunnels avoiding randomly placed obstacles (colored markers): we had to avoid orange to one side and green to the other. We managed to get maximum points in this challenge! The second challenge was the race - we had get around the known course as quickly as possible (avoiding collisions with the wall.
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We implemented some cool software solutions in order to meet the requirements of these challenges. Some of the biggest parts of the system were:
- A color segmentation method in order to identify the obstacles
- A particle filter for localization
- An RRT* algorithm for path planning
