Difference between revisions of "2020WinterTeam1"
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We set out to build a robot that can find its way to the user in a safe an reliable manor. In particular we were hoping to follow predefined GPS paths and avoid people along the way. | We set out to build a robot that can find its way to the user in a safe an reliable manor. In particular we were hoping to follow predefined GPS paths and avoid people along the way. | ||
The project started by exploring two separate problems, detecting people and following a GPS path. Luckily for us the GPS path following had a rudimentary solution produced by the | The project started by exploring two separate problems, detecting people and following a GPS path. Luckily for us the GPS path following had a rudimentary solution produced by the [https://github.com/simonfong6/not-kiwi-bot NotKiwiBot] team. For the person detection we found a [https://www.pyimagesearch.com/2015/11/09/pedestrian-detection-opencv/ helpful tutorial online]. | ||
With these two problems solved we went about trying to integrate a new | With these two problems solved we went about trying to integrate a new [https://www.u-blox.com/en/product/c099-f9p-application-board RTK GPS] and the vision tracking into NotKiwiBot's code. A first draft of this was easier than expected as we only had to take control of the path planner when we saw a person. | ||
After the first test integration we modified NotKiwiBot's path planner to run at a fixed speed (vs a fixed throttle) and applied some changes to decrease the wobble the car experiences while driving. | After the first test integration we modified NotKiwiBot's path planner to run at a fixed speed (vs a fixed throttle) and applied some changes to decrease the wobble the car experiences while driving. | ||
Revision as of 23:03, 19 March 2020
Project Team Members
- Maximilian Apodaca - Computer Engineering
- Daniel (Wei Te) Ha - Mechanical Engineering
- Kaifan Yue - Mechanical Engineering
Project Overview
We set out to build a robot that can find its way to the user in a safe an reliable manor. In particular we were hoping to follow predefined GPS paths and avoid people along the way.
The project started by exploring two separate problems, detecting people and following a GPS path. Luckily for us the GPS path following had a rudimentary solution produced by the NotKiwiBot team. For the person detection we found a helpful tutorial online.
With these two problems solved we went about trying to integrate a new RTK GPS and the vision tracking into NotKiwiBot's code. A first draft of this was easier than expected as we only had to take control of the path planner when we saw a person.
After the first test integration we modified NotKiwiBot's path planner to run at a fixed speed (vs a fixed throttle) and applied some changes to decrease the wobble the car experiences while driving.
Main Components
Schematic
blah blah blah
Hardware
- Lasercut parts
- 3D Printed Parts
- Drivetrain and Chassis
- GPS RTK