I started working on miniature F1tenth cars at Oregon State University in December 2022. I set up a racetrack and developed a computationally efficient motion planning algorithm with fast replanning feature for autonomous racing. This planner is supplemented with a behavior state machine that helps in deciding when to overtake. I achieved top speed of 13 miles/hr on this platform and successfully demonstrated static and dynamic obstacle avoidance at this speed. I participated in F1tenth Grand Prix at UTSA Texas during the CPS IoT Week '23 and successfully completed all rounds.
F1Tenth Competition qualifier
Static Obstacle
Avoidance: