https://github.com/phuang1024/autocar

Self driving robot car.
https://github.com/phuang1024/autocar

Last synced: about 2 months ago
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Self driving robot car.

• Host: GitHub
• URL: https://github.com/phuang1024/autocar
• Owner: phuang1024
• License: agpl-3.0
• Created: 2024-06-11T21:34:03.000Z (7 months ago)
• Default Branch: master
• Last Pushed: 2024-08-07T22:32:36.000Z (5 months ago)
• Last Synced: 2024-08-08T03:02:48.705Z (5 months ago)
• Language: Python
• Size: 3.78 MB
• Stars: 2
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Autocar

Self driving robot car.

[Paper](assets/paper.pdf)

![](assets/image.jpg)



    



The car automatically drives and avoids obstacles.

## Software

### Get data:

Drive via RC to gather data.

Enable switch 2 (channel 6) to start recording.

```bash

python main.py data --dir data/

```

### Train model:

```bash

python main.py train --data data/ --results results/

```

### Inference

Control via RC is still required, and mixed with NN control.

```bash

python main.py auto --model-path model.pt

```

### ONNX

Inference on DepthAI OAK-D.

```bash

python export.py model.pt model.onnx

./blobconv.sh model.onnx output_dir/

python main.py auto --model-path output_dir/model.blob

```

## Firmware

Arduino firmware.

Sends PWM signal to motor drivers.

Reads iBus receiver data via `IBusBM` package.

Sends iBus data and receives motor data via serial.

Upload `firmware.ino` to Arduino.

## RC controls

Tank steer: Left and right up/down control respective motor direction and power.

Standard steer: Left up/down is power. Right left/right is direction.

Switch 1: Enable/disable motors.

Switch 2: Start/stop other application, e.g. data recording, NN inference, etc.