Jordi, Rio Kristan and Rusyadi, Rusman (2022) AUTONOMOUS F1TENTH RACING CAR BASED ON ESP-IDF FREERTOS FIRMWARE. Bachelor thesis, Swiss German University.

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Abstract

This thesis project aims to make an autonomous F1Tenth racing car that is able to perform on an indoor track area along with the ability to avoid obstacles on the track. The purpose of this thesis is to make a further development of F1Tenth racing car by utilizing the benefits of ESP-IDF FreeRTOS firmware. LIDAR sensor is used as the main sensor that is responsible for taking real time data during the performance. The data that is taken will be computed by Raspberry Pi 400 mini-PC using algorithms like Wall Following and Follow the Gap. The data then transferred to ESP32 as a microcontroller that responsible for making the car move. The microcontroller will send PWM signal to Servo as a steering mechanism and Electronic Speed Controller (ESC) as the motor driver. These combinations of LIDAR and algorithm successfully create a fully autonomous system in the car without any human intervention which can perform well on the track along with its obstacle avoidance ability. In conclusion, ESP-IDF FreeRTOS is a promising platform for building an autonomous car like F1Tenth. It is also easier to work with a microcontroller like ESP32.

Item Type:	Thesis (Bachelor)
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Mr Arinton Sinaga
Date Deposited:	11 Dec 2024 08:39
Last Modified:	11 Dec 2024 08:39
URI:	http://repository.sgu.ac.id/id/eprint/2726

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