robertchoi / ai_car_project

AI_CAR_PROJECT

Al-Car

• Members

  전진영 (팀장)

  이규호

  김준영

  김동환

• Working to thing

  Union TEST : ROS

  전진영

  Yolo, RRT

  이규호

  lidar and Yolo linkage

  김준영

  slam

  RRT

  김동환

  Opencv

  reciving velocity data from IMU Sensor

• Complete Mission

  Union TEST : ROS

  전진영

  Yolo : Unit test - detect "Car" and servo control

  Rviz : example test : autonomous driving test

  Motor : Prototpye made dc motor stop, when detect "Car"

  이규호

  IMU : Unit test - Arduino and ROS and Windows environment

  Motor : DC and Servo test in TX2 Ubuntu 16.04LTS environment

  Yolo : Unit test - test in ROS environment

  TX2 : I2C comunication test

  김준영

  Opencv : Unit test - TX2 and ROS and Windows VM Ubuntu 18.04LTS environment

  Rviz : make test example

  김동환

  Opencv : Unit test - Labtop Ubuntu 16.04LTS and ROS and TX2 environment

  Rviz : example test : autonomous driving test

  gazebo : reference code test

  OPencv : Prototpye made servo motor control, when detect "Lane"

• What is Al-Car?

  2019 Nvidia Flatform 기반의 자율주행 자동차

• 목표

  NVIDIA PLATFORM을 활용한 ACC, AEB 등 주행보조시스템(ADAS) 구현

  모형차를 활용한 주행보조시스템 개발

• 주요 기술

  상황인식(영상처리 - OpenCV, Deep Learning)

  모터 드라이버를 이용한 BLDC Motor, Survo Motor Control

  ROS(Kinetic)를 활용한 gazebo simulation

  Lidar, Camera Sensor 신호처리

  ACC, AEB 등 ADAS System logic 설계

  모형차를 활용한 주행 Test

• S/W

  ROS

  OpenCV

  Deep Learning

  Sensor Fusion

  Motor Control

• H/W

  Jetson-TX2 Board

  OpenCR Board

  SSD 250GB

  USB Camera

  USB Herb(3.0/7 ports)

  DC Motor

  Servo Motor

  ESC(Motor Driver)

  Lidar Sensor

  IMU Sensor

  UltraSonic Sensor

  TX's Battery, Motor's Battery

  Car's Body

Result

Limitations

reference

https://medium.com/adventures-in-autonomous-vehicles/introducing-the-f1-10-simulator-b614af2cd652

https://medium.com/adventures-in-autonomous-vehicles/motion-planning-with-f1-10-c2a151563004

https://github.com/Hypha-ROS/hypharos_racecar

http://f1tenth.org/build.html

http://f1tenth.org/build/BuildV2.pdf

hp laptop joy issue

https://answers.ros.org/question/58263/teleop-turtlebot-ps3-joystick/

RRT

http://wiki.ros.org/rrt_exploration/tutorials

https://github.com/hamsadatta/RosBot/tree/Quickstart/Simulation //SLAM

https://www.cnblogs.com/guojun-junguo/p/10143427.html