Basic obstacle avoidance #13
Assignees
Labels
Comments
axe007
added
C++
axe007
added a commit
that referenced
this issue
Apr 7, 2021
## Initial implementation for obstacle avoidance. Needs more work. ### Basic features: * SmartCar start off with random speed, angle and distance to randomize each drive. * Slows down when UltraSonic sensor detects anything within 3 meters in front. * Slowly approach the object, start avoiding when within 1 meter. * Reverse backwards until there is something detected in back IR sensor with 50 centimeters. * "Tries" to avoid wall to the left or right depending on additional left or right sensors. * If car is "drive" mode, but speed is too slow, the car tries to unstuck itself by reversing a bit and going forward slow again. ### Further improvements planned: * Overall sketch structure, methods and calls need to be cleaned up. Bit messy due to initial starting approach. * Need to research gyroscope capabilities and detect going uphill or downhill. * Need to resolve tree avoidance as car starts going forward without completely clearing an obstacle. Contributes to #13
axe007
added a commit
that referenced
this issue
Apr 10, 2021
## Updated implementation for obstacle avoidance. ### Basic features: * Uses enum for car's driving modes. * SmartCar start off with random speed (40-60), angle (-45 to 0) and distance (100-150 meters) to randomize start of the each drive. * Slows down when UltraSonic sensor detects anything within 2.5 meters in front. * Slowly approach the object, start avoiding when within 2 meters. * Car takes ultrasonic measurement and swerves to left for 1.5 seconds, then takes 2nd measurement. * Car "tries" to guess the angle of approach based on those 2 measurements and will try either left or right move to "clear" the object. This logic still needs more testing and refinement. * Reverse backwards until there is something detected in back IR sensor with 50 centimeters. * "Tries" to avoid wall to the left or right depending on additional left or right sensors. * If car is "drive" mode, but speed is too low, the car tries to unstuck itself by reversing a bit and going forward slow again. ### Further improvements planned: * Need to research gyroscope capabilities. Drive to preset heading and "resume" same heading after obstacle avoiding maneuver. Implements to #13
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Task
Create simple Arduino sketch that performs basic obstacle avoidance with a Smartcar. Specifically, you need to make the Smartcar move forward until it detects an obstacle at a distance of your choosing.
Acceptance criteria
Submission
Create a pull request with the necessary code and provide the link to it. Optionally add @platisd to it as a reviewer. This sketch can become the basis of your future code-base but it is up to you if you are going to eventually use it or not.
The text was updated successfully, but these errors were encountered: