AImotion Challenge Results: a Framework for AirSim Autonomous Vehicles and Motion Replication

摘要

The use of simulation environments is becoming more significant in the development of autonomous cars, as it allows for the simulation of high-risk situations while also being less expensive. In this paper, we presented a framework that allows the creation of an autonomous vehicle in the AirSim simulation environment and then transporting the simulated movements to the TurtleBot. To maintain the car in the correct direction, computer vision techniques such as object detection and lane detection were assumed. The vehicle's speed and steering are both determined by Proportional-Integral-Derivative (PID) controllers. A virtual personal assistant was developed employing natural language processing to allow the user to interact with the environment, providing movement instructions related to the vehicle's direction. Additionally, the conversion of the simulator movements for a robot was implemented to test the proposed system in a practical experiment. A comparison between the real position of the robot and the position of the vehicle in the simulated environment was considered in this study to evaluate the performance of the algorithms.