Modern cars tend to be equipped with gradually increasing number of driving support systems, which are meant to facilitate and make road traffic safer. A few examples of such support systems are: adaptive cruise control (ACC), anti-lock braking system (ABS) and anti-slip regulation (ASR). Mapping and continuously putting efforts in gaining a deeper insight into the car environment is a must in order to achieve the highest level of self-driving (i.e. navigation without any human input).
I have tested and implemented the aforementioned sorts of functions on a robot car throughout my project. My thesis work covers the steps of designing the car, the necessary sensors as well as the elaboration of printed circuit panels. The components of the software running on the embedded environment and the process of their development are also introduced. The first part of my work is concluded by the description of how I implemented adaptive cruise control, anti-lock braking and anti-slip regulation systems on the car.
The second part of the paper sheds light on the setup, functions and proper use of the ROS framework applied for mapping and actualization of localization algorithms. In addition, established algorithms for positioning and mapping purposes are being introduced. The last section of my thesis is dedicated to a summary of obtained results, and further improvement possibilities are presented.