The Autonomous Software Stack of the FRED-003C: The Development That Led to Full-Scale Autonomous Racing

Summary

Researchers from the BME Formula Racing Team present the autonomous software stack of the FRED-003C, which enabled full-scale autonomous racing. The software stack was developed in the context of Formula Student Driverless competitions. The paper details the software pipeline, hardware-software architecture, and methods for perception, localization, mapping, planning, and control. Why it matters: The team's experience contributed to their participation in the Abu Dhabi Autonomous Racing League, and sharing the system provides a valuable starting point for other students in the region.