marys-lamb

Mobile robot (Raspberry Pi v4) which can navigate freespace and has basic teleoperation capabilites

How to run code

Dependencies

Install the following (Python) dependencies (will make install file):

• asyncio
• numpy
• cv2
• PCA9685 library
• redis

Running on pi

Use git-lfs to download the TFLite model. TODO: explain how to do this, add sensor / model configs to YAMLs

In order to get Redis running, follow the instructions on this website

python main.py

Running viewer on laptop

python ui.py

Glossary of terminology

I made up a few terms, mostly because I'm weird and not very well-read.

• FishBrain : It partitions the input mask into three sections; if the way ahead is clear "enough", it will continue straight. Otherwise, if there's an opening to the side, it will turn there. Otherwise, it'll stop. Coined because, for obstacle avoidance, it is designed to wriggle around like a fish.
• Intermittent accel : Fine-tuning acceleration is hard. Too little acceleration means it can't overcome static friction, but too much means it will go careening into a wall. So I have it so every other call to move will cause the vehicle to just coast. So it accelerates in spurts. I swear I'll calibrate the motors better later.

TODO

Metacoding

• have centralized dependency management
• stricter test functionss
• Add everything to global config file

Vision

• Load model as TFLite
• Get a public storage of a trained model
• Clean up the Jupyter notebook

Controls

• Adapt FishBrain (planner) to only take bottom half of screen into account
• More thoroughly test the intermittent control system
• Actually have a good acceleration tuning for the motor system so the car moves at constant speed