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AutonomousVehicle

Code for the Burlington Robotics 1/10 Scale Autonomous Car Project

This code is for running a Traxxas Stampede modified RC car from the Raspberry Pi 3. A mix of C, C++ and Python code.

CONTAINS: Bold items are those in which more work is needed

Actuator Control:

  • Car steering
  • Car speed
  • 2 Degrees of freedom pan/tilt

Sensory Input:

  • Camera(s)
  • Microphone
  • GPS
  • Ping ))) Distance
  • Speaker (bluetooth or separate amp too)
  • IMU (code integration)
  • Wheel Encoding (maybe not necessary)
  • Battery Voltage Level

VISUAL SYSTEM

  • Haarcascade Detection (36 objs.)
    • Self Calibration
    • Dynamic Loading
    • Road Sign Detection
  • Tensorflow Detection (20 objs.)
  • Stereographic Vision
    • Depth Perception
  • Facial Recognition (if wanted)
  • Motion Detection
  • OCR Alphanumeric Recognition
  • Florescent Ball Recognition
  • Lane Detection (annotations need to be interpreted)

AUDIO SYSTEM

  • TTS from Secondary Server, scp to rPi's speaker
  • Speech-to-text from rPi's microphone in gstreamer to Sphynx on Secondary Server

NLP SYSTEM

  • Modified AIML
    • Specific Maker Faire Q&As (coded by team)
    • Basic Conversation
  • Commands Processing

COMBINED SYSTEMS

  • Process EVERYTHING offline between rPi & Secondary Server via Wifi Relay
  • Track & follow objects of interest via Visual, IMU & Wheel encoding
  • Avoid hitting people's feet by Ping ))) sensor
  • Engage with people around it via NLP & Audio
  • Stay within a specific location via GPS
  • Inform when battery is low & shutdown via Power
  • Perform Maker Faire specific tricks
    • React to Road Signs
    • Follow balls being led around
    • Track and follow a lane
    • Play croquet with itself
  • Try not to kill all humans

SETUP:

~ Run AutonomousVehicle/src/python/master.py on the RPi 3

  • master.py
    • /sensors/gps_monitor.py
    • /sensors/voltage_monitor.py
    • /visual/remote/server.py
    • /nlp/nlpServer.py
    • /controls/motion.py
      • /controls/ping_monitor.py
    • /audio/serveMicrophone.py

~ Run the following on the server

  • ../shell/startAPBridge.sh
  • /visual/videorecClient.py
  • /audio/ttsServer.py
  • /audio/continuous.py

GPIO PINOUTS: (rPi3)

  • GPS Monitor (GND),(VCC-5v),(TX-PIN8),(RX-PIN10)
  • Self Volt Monitor (GND),(VDD-3.3v),(SDA-PIN3),(SCL-PIN5)