2019WinterTeam6

Team 6 Members

• Aron Laszik (ECE)
• David Zhu (MAE)
• Elizabeth Park (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.

Procedure

Initial Design and Indoor Track

RoboCar06's initial design

First autonomous attempt

Final Design and Outdoor Track

File:Outdoor Lap.mp4

Driving laps in the EBU2 track

RoboCar06's final design

Gap Detection

RoboCar06 finding a parking spot

Wall Detection

RoboCar06 detecting the wall

Perpendicular Parking

RoboCar06 performing a Perpendicular parking maneuver

Parallel Parking

RoboCar06 first's succesful parallel park

Final Excutation

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.