6 Conclusion
I learned quite a lot from this capstone project. In the technical part, I learned how to develop
drivers and applications in an embedded system like robot. The layout of development is different
from traditional programming for generic computers. In the Orca system, we could uti liz e some
standard interfaces for i nter-process communication, as well as real-time control, which saves us quite
a lot time to design different behaviours for each application to communicate. In the teamwork part,
as a team, we five people did much work together and helped each other with personal expertise and
skills. I learned a lot about how to communicate and cooperate du r in g work, which is very helpful
for my future career.
From this project, we now have a clear understanding of the Orca framework and partially
finished this driving system. Additional work may include: testing in real traffic and in a larger
scale r athe r than an experimental platform.
We have shown that the feasibility of a fully autonomous drivin g system with our platform. Our
platform only uses low-cost sensors, which is different from advanced platforms like the Google Car.
It is obvious that we have a much lower cost so that it i s more attractive to consumers. But these
low-cost sensors cannot give a high definition so that we need redundancy to make su r e of robustness.
This implementation will definitely increase the complexity of the system. With further development
of this system into real scenario, it is possible that the cost of software development and integration
would expand. To avoid this problem as much as possible, we have to make a well-modularized
system s o that adding/removing components would not lead to a great change of the syst em.
If this system is finally develop ed into a ready-to-use stage, the area of applications is very wide.
For example, senior and disabled people might feel hard or even unable t o drive by themselves,
so that they want this autonomous car t o help them to move around. Also, commuters may not
want to waste time for driving, thus our system can free th em to do other jobs meaningful to them.
Moreover, it would change the way of transportation – there would be no human drivers on buses
and taxis. People can get a car to move and do not care about parking spaces. These are just several
examples. With the development of technology, the concept of “driving” will be finally changed by
autonomous d r iv in g systems , and then we will have a more efficient world.
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