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词条 Draft:Project Fast-Car
释义

  1. Introduction

  2. Donkey simulator

  3. Training the autopilot

  4. Car specs

  5. upcoming features

  6. References

Introduction

This page is dedicated to a senior design project being pursued by Brian Turnbull. The purpose of the project is to design a radio controlled car that can follow a track autonomously using the Donkey Car platform. The project was started in September of 2018 and will be finished by may 2019 regardless of completion. Thus all research and progress has been done through computer simulation.

Donkey simulator

The donkey simulator is a unity app that allows users to easily start driving and recording data. It has options to drive the car manually with the keyboard or joystick or use built in PID(proportional-integral-derivative) controls. By balancing the prop and derivative sliders users can collect data from the simulator without tediously keeping the car on the track manually. The simulator stores data in pairs of correlating .jpeg files and .json files that can be used directly with the donkey car software to train a pilot file which is created as a .HDF file which can be used through the simulator (by way of web-sockets) or through a real life donkey car. This has proven a huge asset in not only collecting data but checking to see if all other software is working to train the autopilot with Keras.


Training the autopilot

Training the autopilot using Keras with Tensorflow has proved the greatest challenge thus far. After a lot of consideration and hesitation the project was started over and taken from Microsoft Windows to Ubuntu. This not only relieved many of the issues the project faced, but allowed for further testing. With the project transferred to the new operating system the directories are much easier to manage, and everything is stored a neater format. Now that everything is running smoothly pilots are now being trained with relative ease.

Car specs

The car will either be 1:10 or 1:16 scale Radio controlled car to be announced. It uses a Raspberry Pi 3 B+ to communicate with the server computer. To control the car a servo motor controller is attached to the Raspberry Pi as well as a Pi camera module which will be used to record data and help the car navigate.


upcoming features

(organized most likely to be completed to possible updates added if time permits.)

  • remote access to the Ubuntu virtual machine through SSH
  • real life Donkey car experimenting (manual throttle control)
  • implementing automated throttle control
  • making the car as fast as possible
  • passing behavior
{{AFC submission|t||ts=20190326211822|u=Bturnbul|ns=118|demo=}}

References

随便看

 

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