Autocar

Self driving robot car.

Paper

The car automatically drives and avoids obstacles.

Software

Get data:

Drive via RC to gather data. Enable switch 2 (channel 6) to start recording.

python main.py data --dir data/

Train model:

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

Inference

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

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

ONNX

Inference on DepthAI OAK-D.

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.