Difference between revisions of "2019WinterTeam6"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
Jump to: navigation, search
(Initial Design and Indoor Track)
(Initial Design and Indoor Track)
Line 10: Line 10:
 
==Preparation==
 
==Preparation==
 
===Initial Design and Indoor Track===
 
===Initial Design and Indoor Track===
 +
 +
[[File:Initial design.jpg|thumb|right|300 px|RoboCar06's initial design]]
 +
[[File:Indoor Lap.mp4|thumb|left|400 px|First autonomous attempt]]
  
 
The chassis of the car was given to us fully assembled, so the team's first tasks are to a design a platform for the electronics and a camera stand. Both the acrylic plate and the camera mount was made using the tools in Envision.
 
The chassis of the car was given to us fully assembled, so the team's first tasks are to a design a platform for the electronics and a camera stand. Both the acrylic plate and the camera mount was made using the tools in Envision.
  
 
Our first camera design was proven flawed as we are collecting data for the indoor autonomous model. We've concluded that its short height and small angle of Incline is the problem, as the pictures recorded included too many variances that could disturb the training process. The car's first attempt to drive itself was cut short when it's beginning to cut corners and drive off track. Upon further testing, we learn that the car needed much more data and consistent throttle in order to train a model. We kept that in mind for future training and gotten much better results.
 
Our first camera design was proven flawed as we are collecting data for the indoor autonomous model. We've concluded that its short height and small angle of Incline is the problem, as the pictures recorded included too many variances that could disturb the training process. The car's first attempt to drive itself was cut short when it's beginning to cut corners and drive off track. Upon further testing, we learn that the car needed much more data and consistent throttle in order to train a model. We kept that in mind for future training and gotten much better results.
 
[[File:Initial design.jpg|thumb|right|300 px|RoboCar06's initial design]]
 
[[File:Indoor Lap.mp4|thumb|left|600 px|First autonomous attempt]]
 
  
 
===Final Design and Outdoor Track===
 
===Final Design and Outdoor Track===

Revision as of 17:02, 22 March 2019

Team Members

  • Aron Laszik (ECE)
  • David Zhu (MAE)
  • ElizabethPark (ECE)
  • Zhe Tang (ECE)

Objectives

The goal of our project is to use 4 TOF (Time-of-Flight) sensors to continuously sample data from the sensors to successfully parallel park our car. We drew inspiration from a previous team, 2018FallTeam2, who did a project on parallel parking with TOF sensors. Our idea is to further the work done by the previous team by utilizing more sensors to prevent any collision while parking.

Preparation

Initial Design and Indoor Track

RoboCar06's initial design

The chassis of the car was given to us fully assembled, so the team's first tasks are to a design a platform for the electronics and a camera stand. Both the acrylic plate and the camera mount was made using the tools in Envision.

Our first camera design was proven flawed as we are collecting data for the indoor autonomous model. We've concluded that its short height and small angle of Incline is the problem, as the pictures recorded included too many variances that could disturb the training process. The car's first attempt to drive itself was cut short when it's beginning to cut corners and drive off track. Upon further testing, we learn that the car needed much more data and consistent throttle in order to train a model. We kept that in mind for future training and gotten much better results.

Final Design and Outdoor Track

RoboCar06's final design

Project

Gap Detection

Wall Detection

Perpendicular Parking

RoboCar06 performing a Perpendicular parking maneuver

Parallel Parking

Obstacles

Error with smbus library

We ran into issues with using the smbus library which helps us change the I2C addresses of the TOF sensors in Python. We were able to change the I2C address but could not access the data correctly when trying to establish communication through I2C. With this error we could not use all 4 TOF sensors simultaneously.
Solution
We bought 2 multiplexer buses from Fry's so we can use all 4 TOF sensors at the same time.