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)