Some of the key challenges associated with this project are the following:

Detection Accuracy: The Duckiebot and Duckies detection systems occasionally produce false positives. Light sources from other Duckiebots or shiny objects can interfere with the LED detection, while yellow line segments can be mistaken for Duckies. Improving the reliability of detection under varying lighting conditions is essential.

Lane Following Stability: The Duckiebots sometimes become unstable while overtaking, especially when driving in the left lane. The lane-following system struggles with large lane pose angles or rapid changes in lane position, which can cause the Duckiebot to veer off the road. Enhancing the lane-following algorithm to maintain stability during lane changes is critical.

Velocity Estimation: Estimating the speed of moving Duckiebots accurately is challenging. The current position data obtained from LED detection fluctuates too much to provide a reliable velocity measurement. Developing a more robust method for estimating the velocity of other Duckiebots is needed to ensure safe and efficient overtaking.

Variable Speed Control: Implementing variable speed control during overtaking is problematic due to instability in the lane-following pipeline when speeds are dynamically adjusted. Adjusting speed based on the detected obstacle’s speed without losing lane stability is difficult, necessitating improvements in the lane control model to handle speed changes effectively.