{"id":21036090,"url":"https://github.com/makelove/pi_self_driving_car","last_synced_at":"2025-04-10T00:18:31.453Z","repository":{"id":76923687,"uuid":"102685237","full_name":"makelove/Pi_Self_Driving_Car","owner":"makelove","description":"使用树莓派3b来实现无人驾驶汽车","archived":false,"fork":false,"pushed_at":"2019-04-18T02:01:28.000Z","size":8009,"stargazers_count":269,"open_issues_count":2,"forks_count":96,"subscribers_count":14,"default_branch":"master","last_synced_at":"2025-04-10T00:18:21.118Z","etag":null,"topics":["lidar","opencv3","python36","rasberry-pi","ros-kinetic","rviz","self-driving-car","sweep-sdk"],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/makelove.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-09-07T03:08:56.000Z","updated_at":"2025-04-06T14:24:02.000Z","dependencies_parsed_at":null,"dependency_job_id":"5bef0ea4-5bf2-4630-9ed2-dfa901b9aa2d","html_url":"https://github.com/makelove/Pi_Self_Driving_Car","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/makelove%2FPi_Self_Driving_Car","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/makelove%2FPi_Self_Driving_Car/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/makelove%2FPi_Self_Driving_Car/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/makelove%2FPi_Self_Driving_Car/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/makelove","download_url":"https://codeload.github.com/makelove/Pi_Self_Driving_Car/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248131318,"owners_count":21052820,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["lidar","opencv3","python36","rasberry-pi","ros-kinetic","rviz","self-driving-car","sweep-sdk"],"created_at":"2024-11-19T13:18:24.566Z","updated_at":"2025-04-10T00:18:31.416Z","avatar_url":"https://github.com/makelove.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Pi_Self_Driving_Car\n- 使用树莓派3b来实现无人驾驶汽车.\n    - 使用ROS把各种传感器连接起来。\n    - 对动手能力要求很高。\n        - 不想被折腾的朋友，建议在淘宝买现成的套餐，半成品。\n        - 等熟练后，再买零件组装\n        \n- 路线图\n    - 智能小车，组装，焊接，连接电路，使用Arduino让车动起来    \n        - 智能小车底盘+电机驱动L298N+Arduino UNO R3+杜邦线+面包板+电池\n    - 使用串口游戏手柄控制 智能小车 行走\n    - 游戏手柄+智能小车+超声波传感器4个\n    - 6轮越野小车\n        - 组装，小车底盘+电机驱动MD02+Arduino UNO R3+杜邦线+面包板+电池\n        - 树莓派3b，小车底盘+电机驱动MD02+Arduino UNO R3+杜邦线+面包板+电池\n            - 树莓派3b\u003c--\u003eArduino\u003c--\u003e电机驱动MD02\u003c--\u003e小车底盘\n            - USB游戏手柄\u003c--\u003e树莓派3b\n        - ROS\n            - 树莓派3b安装Ubuntu Mate 16.04--\u003e安装ROS kinetic\n                - 建议装ROS Indigo，kinetic还有很多坑。\n                - 重要是书店里的ROS图书都是基于Indigo\n                - 本人是根据《ROS机器人高效编程》来学习的\n            - 购买激光雷达，建议买哪款经典的RPLIDAR-A1 (升级版)\n                - rviz 激光地图\n                - 测速电机，里程计\n                - SLAM\n                    - 本人困在【hector SLAM制作地图】，小车一转弯，地图就重叠了。\n            - 摄像头\n                - 双目，OpenCV\n                    - 视觉SLAM，困难。树莓派，运算能力差\n                        - 可购买 NVIDIA Jetson TX1，TX2\n                            \n                - Kinect深度摄像头 \n                    - 点云PCL\n            - 多种传感器融合\n                - 激光雷达\n                - 里程计\n                - 超声波传感器\n                - IMU惯性导航\n                - Kinect深度摄像头\n        - NVIDIA Jetson TX2\n            - 大杀器\n            - 要配 跑车底盘，大容量电池，路由器\n                - 看YouTube视频\n                - 网站http://www.jetsonhacks.com/\n                    - 安装，配置，优化等教程都有。\n                    - 还需要更换Linux内核\n            - MIT的无人驾驶课程，使用了它  \n            - GPU 深度学习\n        \n- 参考图书\n    - [ROS机器人高效编程（原书第3版）](https://item.jd.com/12169587.html)\n        - 非常好的一本书！\n\n\n## 开发环境\n* macOS Sierra 10.12.5 \n* Python 3.6.1\n* OpenCV 3.2.0\n* Arduino IDE 1.8.4\n* ROS Kinetic\n* Ubuntu 16.04\n\n## 设备\n- 智能小车\n    - 舵机转向 [淘宝](https://s.click.taobao.com/G7b08Cw)\n    - 6WD搜救平台  [淘宝](https://s.click.taobao.com/wJS08Cw)\n- 树莓派3b\n- Arduino UNO R3 开发板\n    - Arduino Mega 2560 功能更强大！强烈推荐！\n- 电机驱动\n    - L298N \n    - MD02 [淘宝](https://s.click.taobao.com/EuQ08Cw)\n- 激光雷达Scanse Sweep 40米距离 [淘宝](https://item.taobao.com/item.htm?id=545843273303\u0026_u=t2dmg8j26111)\n    - 可转让这款！请联系我。\n    - 推荐[RPLIDAR-A1 (升级版)](https://s.click.taobao.com/Eq508Cw)\n        - 很多书，很多文档都使用这款。\n- 摄像头\n    - 130W像素高清摄像头模组 720P 1280x720 USB2.0免驱 微距模块 [淘宝](https://s.click.taobao.com/mc008Cw)\n- GPS模块\n    - GPS模块 NEO-6M UBLOX 卫星定位 51单片机 Arduino STM32 例程\n带有USB接口 带有SMA接口 [淘宝](https://s.click.taobao.com/vyrz7Cw)\n- 超声波传感器 4\n    - 超声波云台 带转向 固定 180 9G舵机 智能小车 测距 [淘宝](https://s.click.taobao.com/vyrz7Cw)\n- 红外线传感器+红外遥控器\n- 电池 \n    - 12v锂电池组聚合物太阳能路灯氙气灯10A安时大容量12000mAh  [淘宝](https://s.click.taobao.com/tyPz7Cw)\n    - 充电宝\n- 杜邦线\n- IMU\n    - GY-521 MPU-6050模块 三轴加速度 陀螺仪6DOF模块 [淘宝](https://s.click.taobao.com/SSBz7Cw) 用这个！\n    - SparkFun 9DoF Razor IMU M0  ROS不支持\n        - https://www.sparkfun.com/products/14001\n        - 上手 https://learn.sparkfun.com/tutorials/9dof-razor-imu-m0-hookup-guide\n- 游戏手柄\n    - pc360/电脑PS3/安卓PS2震动usb2.4g无线游戏手柄/无延迟/街机双打 [淘宝](https://s.click.taobao.com/C8Hy7Cw)\n- 测速电机\n    - JGA25直流减速电机 带编码器 霍尔测速磁环 大扭力直流马达 [淘宝](https://s.click.taobao.com/bMAy7Cw)\n- RGB 全彩LED   [淘宝](https://s.click.taobao.com/ruox7Cw)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmakelove%2Fpi_self_driving_car","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmakelove%2Fpi_self_driving_car","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmakelove%2Fpi_self_driving_car/lists"}