AMZFormulaStudent | AMZ Driverless: The Full Autonomous Racing System @AMZFormulaStudent | Uploaded May 2019 | Updated October 2024, 4 hours ago.
This paper describes the algorithms and system architecture of an autonomous racecar. The presented vehicle is powered by a software stack designed for robustness, reliability and extensibility. In order to autonomously race around a previously unknown track, the proposed solution combines state of the art solutions from different fields of robotics - mainly perception, estimation and control - into one high performance autonomous racecar. This complex robotic system, developed by AMZ Driverless and ETH Zurich, finished 1st overall at each competition we attended: Formula Student Germany 2017, Formula Student Italy 2018 and Formula Student Germany 2018. We therefore discuss the findings and lessons learned from these competitions in addition to presenting an experimental evaluation of each part of our solution.

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