Autonomous Vehicle Control based on HoloLens Technology and Raspberry Pi Platform: an Educational Perspective

Abstract

Localization and mapping is an essential part of an autonomous vehicle control. Microsoft HoloLens is a sophisticated augmented reality device using many advanced technologies. As such HoloLens has high appeal for young people and its use in teaching may increase the attractiveness of control classes. In this paper we describe how this device can be used in advanced control education for experiments with autonomous vehicles localization, mapping and control. Among other capabilities HoloLens can provide 3D position information by its spatial mapping feature. This facilitates the simultaneous localization and mapping (SLAM) problem. Furthermore, based on HoloLens position information the students can design vehicle longitudinal and lateral control systems and compare the performance achieved with different strategies such as PID and Model Predictive control. Example comparisons are given in this paper.