## 4 Experiments and Results
### Implement in Real Environment  
After the successful implementation in the simulated environment, this study was extended to implement the system in a real-world setting. The experimental vehicle used in this study is the F1 tenth car, which is a widely recognized platform for research in autonomous driving due to its affordability, flexibility, and scalability [37]. The Fltenth car used in this research consists of two main layers that are essential for achieving autonomous functionality. The lower level serves as the foundation of the vehicle, providing the structural support for various components. This layer is equipped with the following. * Chassis: The chassis used in this experiment is from Traxxas, a simplified version of the chassis structure that is as close as possible to a real car. The size of the experimental car is one-tenth of the vehicle on the road. It uses the Ackermann steering mechanism, which is commonly employed in automotive design to minimize tire slip and ensure that each wheel follows its optimum path during turns. This setup is crucial for replicating the real dynamics of vehicle steering and control. * Battery: A lithium-polymer battery with a capacity of 5000 MAH was used in this experiment. * Motor: A high-performance brushless motor that provides precise control over the car's speed and maneuverability. The upper level is mounted on a laser-cut acrylic panel. It contains all the components responsible for autonomous decision-making and control. This layer includes the following. * NVIDIA Jetson TX2: The primary computing unit that runs all the deep learning models, including the DDPG algorithm and the point cloud processing module. The Jetson TX2 was selected for its computational power while maintaining a small size, which is critical for real-time processing. * Communication: The vehicle communicates with the station through an antenna for remote input of commands, monitoring, data logging, and algorithm tuning. * VESC (Vedder Electronic Speed Controller): A component responsible for controlling the speed and steering of the vehicle. The VESC is directly interfaced with the NVIDIA Jetson TX2, enabling precise control based on the actions determined by the DDPG model. * Powerboard: Distributes power to all components, ensuring stable operation and proper voltage levels. To enable the vehicle to perceive its surroundings, this study used a Velodyne VLP-16 3D-LiDAR sensor to meet the research requirement, which is well suited for capturing detailed spatial information. The VLP-16 provides a 360-degree horizontal field of view and a vertical field of view of approximately 30 degrees. It has 16 laser channels that allow for high-density point cloud generation, producing up to 300,000 points per second, with a  
Figure 7: Noise diagram of the experiment. range of up to 100 m. Its lightweight and compact design also makes it suitable for integration into smaller autonomous platforms like the Fl1 enth car. To integrate the LiDAR with the Fl1 enth car, a custom load-bearing platform was designed using 3D printing technology. This custom platform was optimized to reduce the overall weight while ensuring that the LiDAR remained stable during motion, thus enhancing the reliability of the sensor data. The use of 3D printing also allowed for rapid prototyping and customization, which were particularly useful for adapting the sensor setup to meet specific research needs. The car's system operates using ROS Melodic, a popular version of the Robot Operating System, which provides a flexible framework for communication between different sensors and computational units. ROS Melodic was chosen due to its stability and compatibility with the Jetson TX2 and other components of the Fl1 enth platform. Figure 8 shows the agent used in this research. The system architecture of the real-world experiment is illustrated in Figure 9. Initially, the 3D-LiDAR acquires environmental information and inputs the data in point cloud format into the NVIDIA Jetson TX2 processor.