From MAE/ECE 148 - Introduction to Autonomous Vehicles
Revision as of 21:38, 10 December 2021 by 2021FallTeam1 (talk | contribs)
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Team Members

Jacob Ayers - Electrical Engineering (Year)

Ian Singson - Aerospace Engineering (Senior)

Shoh Mollenkamp - Computer Engineering (Year)

Our Robot

Base Plate

The base plate has a grid of m3 holes that are 1.5 cm apart horizontally and 2.5 cm apart vertically. There is an extended hole in the bottom right of the base plate to accommodate for mounting to the vehicle and attaching the Jetson Nano at an angle to allow for more room for the wiring. BasePlateTeam1.PNG

Camera Mount

The camera mount was designed with two legs, a right and left shown in the images below respectively. The legs can each be attached to the base plate via two m3 screws. The camera plate is what holds the camera via four m2 screws and attaches to the two legs by a m3 screw in the back of the plate that goes across both legs on their top most hole. The camera plate was designed to be flush against the two legs and not allow any rotation so that only one screw may be used. We found that the camera did not need to be put at an angle because it was high enough so that the camera could see in what was directly in front of the robot but also far away. The lidar plate can be attached to the camera legs via two m3 screws in the middle of the legs. The lidar plate uses two screws to support the weight of the lidar.

LeftCameraMount1.PNG RightCameraMount1.PNG

CameraPlate1.PNG LidarPlate1.PNG


Donkeycar Autonomous Laps

{{#evu:https://www.youtube.com/watch?v=qh8faK3-3PE?rel=0 |center| }} {{#evu:https://www.youtube.com/watch?v=8UUWC02IGxU?rel=0 |center| }}

ROS2 Autonomous Laps

{{#evu:https://www.youtube.com/watch?v=EyunxlJ1tvg?rel=0 |center| }}

Final Project

Our final project aimed to use image detection that would autonomously cue the robot to play a song while it is going around the track. These images will be placed on the side of the track and will be detected by another webcam on the robot that is facing outward with respect to the track.

We were able to do this through a webcam training data collection script. This script allowed us to take images of each class of the musicians faces around the track in order to train a model that would be able to recognize if there was a musician face on the side of the track, and which musician it was. We took roughly around 1200 images around the track for 5 classes: Beethoven, Frank Sinatra, Freddie Mercury, John Lennon, and a none class for when there was no musician. This script would then output which class it detected onto a notepad.

Second Camera Holder

Our second camera is webcam that is meant to wrap around the monitor so a different design was needed. This design allows the camera to be securely wrapped around the camera holder.


Source Code


Image Recognition Demo {{#evu:https://www.youtube.com/watch?v=1AGjGcf40Tk?rel=0 |center| }}

ROS2 Linerunner + Image Recognition Demo {{#evu:https://www.youtube.com/watch?v=ApREtvkTF_c?rel=0 |center| }}