This project involves the development of an AI line following robot.
The robot, which is constructed using a Raspberry Pi as the controller, uses deep learning to predict required movements in order to follow a line.
The error signal for the neural network is generated using a set of sensors on the bottom of the robot. During the learning phase, the robot uses these sensors and a reflex based control system to follow the line. The neural network uses the images input using a camera mounted on the front to predict the required movements to reduce the error signal. It uses a closed-loop back propagation system to perform this.
This project involves investigation into potential improvements to the current system; for example constant error propagation, and convelutional input filtering. The current system is described in: https://arxiv.org/pdf/2001.02970.pdf
This repository provides a ROS (Robot Operating System) based framework for development and testing of neural network implementations with a line following robot. The line following robot can be realised as either a simulation or as a physical robot.
-
rqt_plugins: this directory contains the custom rqt GUI plugins used for the project
-
ros_packages: this directory contains some misc. ROS packages useful for the project
-
physical_robot: this directory contains work related with the development of the physical robot for the project
-
simulators: this directory contains simulator packages used in the framework
-
neural_networks: this directory contains the neural network implementations used in the project
-
interface_specifications: this directory contains specifications for module interfaces for the framework
Instructions for using each section of the framework can be found in the respective folder.
In general however, ROS is a common requirement for all modules. The ROS distribution used for this project was Melodic ROS.
Instructions for getting started with ROS can be found on the ROS Wiki.
This repository is also dependent on submodules so when cloning use:
git clone https://github.com/a2198699s/AI-Line-Follower --recurse-submodules