Difference between revisions of "2022SpringTeam2"

From MAE/ECE 148 - Introduction to Autonomous Vehicles
Jump to navigation Jump to search
Line 52: Line 52:


  '''Repositories'''
  '''Repositories'''
  [https://github.com/mbheir/robocar_human_follow/blob/master/robocar_human_follow/pid_node.py]
  [https://github.com/mbheir/robocar_human_follow.git]
[https://gitlab.com/ucsd_robocar2/ucsd_robocar_lane_detection2_pkg/-/blob/team-2-WI-22/ucsd_robocar_lane_detection2_pkg/lane_guidance_node.py#modal-confirm-fork-webide ECE/MAE 148 WI22 Team2 GitLab (ROS2 Integration)]

Revision as of 21:17, 10 June 2022

Bold text

Team Members

Team

  • Raymond Constantine - MAE
  • Martin Heir - UPS
  • Sam Liimatainen - ECE
  • Zhenghao “Jack” Weng - MAE

Team 2 Car

Top View

Sideview.jpg

Front View

Frontview.jpg

Project Overview

Design and built an autonomous human following program using Yolo driven object detection algorithm This algorithm implements a box type target system that tracks human shape objects with in the camera’s field of view We utilized custom ROS nodes to have the incoming data from the camera publishing to a steering controller node, giving commands to the vesc via twist commands

Mechanical Design

Baseplate

Cad1.png
Cad2.png

Electrical Design

Wiring Schematic

Wire.png

Programming Design

ROS Node Flowchart:

Nodechart.png

Human detection Node “Responsible for detecting and locating humans” Subscribes to camera Publishes human pixel coordinates

PID Node “Responsible for steering control” Subscribes to human pixel coordinates Publishes car steering commands


Project Demo:

CarInAction.gif

Repositories
[1]
ECE/MAE 148 WI22 Team2 GitLab (ROS2 Integration)