2022SpringTeam4

From MAE/ECE 148 - Introduction to Autonomous Vehicles
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Team Members

Maxwell Chang (Electrical Engineering)

Jack Griffin (Mechanical Engineering)

Eskil Berg Ould-Saada (Cybernetics and Robotics)

Kai Poon (Electrical Engineering)

Our Robot

Car Photos

Profile

Front.png

Back

Back.png

Left

Left.png

Top-Down

Top.png

Schematic

Team4Schematic.jpg

Autonomous Laps

Donkey

ROS2

Outside Track

Inside Track

Final Project

Objective

We wanted to create a voice controlled car for our final project. This car would take our voice from a microphone as input and we wanted to create a program that recognizes some key words which will drive the car. The key words we wanted to use were:

“Go” == forward

“Stop” == stop

“Left” == turn left with some degrees

“Right” == turn right with some degrees

“Straight” == Straighten the steering angle

“Exit” == Exit the program

In our program we wanted to subscribe to the commands in form of strings of words we are saying to the microphone, and then publish the corresponding movements on the car itself.

Must Haves and Nice to Haves

Must Have

Audio passed to program as input - Clean audio with minimal noise

A program that can recognize key words in English

Car responding correctly to given commands

Nice to Have

Speaker feedback on the car

Movement bind to the path, e.g. autopilot feature

Approach

Implemented speech recognition module

Established Socket communication for Tx and Rx messages

Added threading to handle parallel processes

What Worked

Able to reduce noise in the audio

Recognize our speech

Socket communication via socket

Control VESC using actuator.py

What Did Not Work

Not able to do socket communication via docker

Not able to connect mic or speaker via docker

Offline recognition (Speech)


Gantt Chart

Gantt4.png


Implementation

Code

https://github.com/KaiPoon828/ECE148

High level block diagram

High level block.png

ROS2 block diagram

Ros block.png

Demonstration Video

Final Presentation

https://www.canva.com/design/DAFC96FFcAE/UHuxd4PgoMkapxPjJ2Mluw/view?utm_content=DAFC96FFcAE&utm_campaign=designshare&utm_medium=link2&utm_source=sharebutton

Acknowledgements

Professor Jack Silberman

TA Dominic Nightingale

TA Ivan Ferrier