Eklavya: A Mid Sized Self Driving Vehicle

Started: Feb 2015

Stopped: Never 😀

Areas worked on: Robotics, Control Systems, Computer Vision, Power Electronics, Wireless Communication

Current Tasks: Control Systems for Eklavya 6.0, Integrating new LIDAR platform.

Team AGV is a multidisciplinary research group, mostly populated by undergraduates that vows to build the first road ready autonomous car for India, made in India. For prototype purposes, we work on Eklavya which is a 3 wheeled, front-driven and front-steered electric vehicle.

agv

I have been working on development of self driving cars since February 2015. Initially working on embedded systems and control systems. I wrote the ROS based control systems code for Eklavya 4.0 and 5.0 (the names of our vehicles) from scratch. I also made the power circuits and programmed the Arduino and Beaglebone for implementing the control system, and also wrote nodes to communicate to/from the ROS environment. I since have expanded my horizons to also include computer vision and perception modules. I have worked on obstacle detection using cameras, traffic sign recognition and currently am working on road bumper recognition.

lanenav
The Lane detection with obstacle removal in action

I have also worked on ROS (Robot Operating System) networking, control system design and analysis, obstacle detection, traffic sign recognition, LIDAR point cloud processing, power supply for robots and wireless communication.

I also represented the team at IGVC 2016 held at Oakland University, Michigan, USA and we finished 9th worldwide in the design based challenge in over 30 teams.

Working for making Eklavya possible has also given me basic understanding of motion planning and localization of mobile robots. I also know the basics of simulation of robots on ROS (Gazebo).

 

The link to the AGV Github.

The link to the AGV website.

The link to AGV related posts on my webpage.

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