2022WinterTeam6

From MAE/ECE 148 - Introduction to Autonomous Vehicles
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Team 6: DKar

~~donkey in a car~~

Team Members

  • Aksharan Saravanan, ECE
  • Hieu Luu, DSC
  • Katada Siraj, MAE

~~team pic~~


Project Overview

A robot that acts as an aimbot, in that it follows a target and dynamically adjusts a laser pointing at that target. The robot should use OpenCV to detect the target and ROS to guide steering and throttle based on the target position and distance.

Goals:

  • Have the car be able to autonomously follow a target (e.g. a poster board)
  • Modify the car to fit a laser pointer that aims at the target
  • (Nice-to-have)Recognize targets of different colors and adjust the following distance.
    • Alternative: Use depth data from intel to implement throttle control


Gantt Charts

~~image (original gantt)~~ ~~image (updated gantt)~~


Robot setup

Hardware Setup

~~image (robot hardware)~~


CAD/Mechanical Designs

~~images (for cad models and lasercut board)~~ (and maybe short description?)

Wiring

~~image (wiring schematic)~~

Special Components

  • Intel RealSense RGBD Camera
  • Mini Laser
  • Micro Servo

~~images (for each component)

Emergency Stop

~~video (of EMO)~~


DonkeyCar

Tips/Notes

OpenCV/ROS2

Tips/Notes

Final Project

Explanation/How We Did It

ROS Software Design

Code Snippet/Github

PID Algorithm

Demo Videos

Tips/Notes

Presentations

Challenges

Future Developments

Resources

Acknowledgements

Thanks to: Professor Silberman Dominic Ivan Professor De Oliveira as well as the other teams.