I completed multiple autonomous vehicle (AV) projects using the open source simulator CARLA. These projects span the domains of AV from control, state estimation, localization, perception to motion planning.
Controller to navigate a self-driving car around a racetrack, using CARLA simulation environment.
Error-State Extended Kalman Filter to localize a vehicle using data from the CARLA simulator. Also including implementation for a vanilla Extended Kalman Filter.
Algorithms to build vehicle trajectory and algorithms for environment perception stack in AVs. Also including implementation for a visual odometry.
A functional motion planning stack that can avoid both static and dynamic obstacles while tracking the center line of a lane as well as handling stop signs, in CARLA. Also including implementations for a mission planner and occupancy grid in Jupyter Notebooks.
Download CarlaUE4 for Ubuntu and follow the instructions.
Download CarlaUE4 for Windows and follow the instructions.