Abstract
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for on-board navigation and control while keeping it cost-effective and easy to replicate. To develop DART, we built on an existing off-the-shelf model and augmented its sensor suite to improve its capabilities for control and motion planning tasks. We detail the hardware setup and the system identification challenges to derive the vehicle's models. Furthermore, we present some use cases where we used DART to test different motion planning applications to show the versatility of the platform. Finally, we provide a git repository with all the details to replicate DART, complete with a simulation environment and the data used for system identification.
| Original language | English |
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| Title of host publication | Proceedings of the 35th IEEE Intelligent Vehicles Symposium, IV 2024 |
| Publisher | IEEE |
| Pages | 129-136 |
| Number of pages | 8 |
| ISBN (Electronic) | 9798350348811 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | 35th IEEE Intelligent Vehicles Symposium, IV 2024 - Jeju Island, Korea, Republic of Duration: 2 Jun 2024 → 5 Jun 2024 |
Publication series
| Name | IEEE Intelligent Vehicles Symposium, Proceedings |
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| ISSN (Print) | 1931-0587 |
| ISSN (Electronic) | 2642-7214 |
Conference
| Conference | 35th IEEE Intelligent Vehicles Symposium, IV 2024 |
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| Country/Territory | Korea, Republic of |
| City | Jeju Island |
| Period | 2/06/24 → 5/06/24 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.