LitterBug: Autonomous Trash Rover
The LitterBug is a trash pick up rover built off the Donkeycar platform. It's goal is to help pick up trash in beaches, parks, etc as well as provide a fun and relevant context for which to learn about self-driving vehicles, AI, and robotics.
Read these first!
- LitterBug Build instructions and Software documentation
- LitterBug Write-up (for more details on experiment)
Build a LitterBug to:
- Create a version of a real life WALL-E!
- Experiment with autopilots, mapping, computer vision, and neural networks.
- Train your rover to pick up trash anywhere (..and have fun while saving the planet)
- Log sensor data. (images, user inputs, sensor readings)
After building a Litterbug, press the select button on the ps3 controller and get rolling.
Create your own parts.
You can make the LitterBug interact with the environment in new ways by adding a new physical part. For example, this project added a scoop part using an extra servo. Since the LitterBug is built off the Donkeycar platform, you can use their structure to create new parts.
#Define a vehicle to take and record pictures 10 times per second. from donkeycar import Vehicle from donkeycar.parts.camera import PiCamera from donkeycar.parts.datastore import Tub V = Vehicle() #add a camera part cam = PiCamera() V.add(cam, outputs=['image'], threaded=True) #add tub part to record images tub = Tub(path='~/mycar/get_started', inputs=['image'], types=['image_array']) V.add(tub, inputs=['image']) #start the drive loop at 10 Hz V.start(rate_hz=10)
You can also control your new part by mapping an unused button on your PS3 controller. Modifying the donkeycar/parts/controller.py file:
#AVAILABLE BUTTONS = ['tr', 'tl2', 'tr2', 'mode', 'thumbl', 'thumbr'] #AVAILABLE AXES = ['y', 'z', 'rx'] #In the update() method of the JoystickController class add: if button == '<AVAILABLE BUTTON HERE>' and button_state == 1: #do something!