Difference between revisions of "2020FallTeam1"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
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===Mechanical Design===
===Mechanical Design===
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[[File:Cam mount one.JPG|700px]]
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;:''' Base Plate'''
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;: '''Jetson Nano Case'''
;: '''Jetson Nano Case'''

Revision as of 04:33, 17 December 2020

Team Members

Electrical Engineers
Benjamin Crawford
Heather Huntley
Joshua Orozco
Mechanical Engineers
Peggy Tran

Project Overview

Initially the goal of our project was to design an autonomous vehicle that would utilize DonkeyAI framework, open CV, and sensors to detect and gather tennis balls in one area to facilitate collecting them after each set. Due to COVID-19, the scope of our project was pivoted to create a ROS package that enables the RoboCar to use images taken through its external camera to be processed through a mask and proportional-integral-derivative tuning in order to read the yellow lines on the racetrack and drive autonomously.


Mechanical Design

Camera Mount

Cam mount one.JPG

Base Plate

Team one base plate.JPG

Jetson Nano Case

Electronic Components

Jetson Nano Developer Kit
Adafruit PCA9685
16bit PWM controller
USB webcam
High power LEDs
11.1V 3S LiPo battery
Battery voltage sensor
433MHz remote relay
12V-5V DC-DC voltage converter

The car our team used is built around a Traxxas Ford Fiesta chassis containing a DC motor, electronic speed controller and servo motor. The following diagram shows how all of the electronics are wired.

ECE148 Wiring.png


We set up a GitHub repository where the code used by the vehicle is stored. The repository contains an ROS package which is designed to be used with our car. The following diagram displays the overall structure of the out ROS package, Autonomous_ROS_Racer.

ROS graphic.png



Using the donkeycar framework and the UCSD GPU cluster to speed up the behavioral modeling process we were able to do five autonomous laps on an outdoor track. As you can see in the video below:
Template:Video goes here

ROS Package

With the ROS package that we developed we completed five laps (with a little help) on the track in the Warren tents. Here is a video of that:
Template:Video goes here

Future Suggestions