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Photo of ciprianponta

Made by ciprianponta / Automotive / Robotics / Sensors / Vehicles

About the project

Lane Keeping System

Project info

Difficulty: Difficult

Platforms: DFRobot,  NXP,  Arm

Estimated time: 3 months

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

MR-Buggy3 Kit MR-Buggy3 Kit The original ESC and servo motor was changed, Price: ~700eur x 1
ESC ESC https://www.hobbywing.com/products/enpdf/QuicRunWP1625-WP860-WP1060.pdf, Price: ~30eur x 1
Servo motor Servo motor Price: ~5eur x 1
Teensy-LC Without Pins Teensy-LC Without Pins Price: ~15eur x 1
Pixy2 CMUcam5 Pixy2 CMUcam5 https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:overview, Price: ~70eur x 1
LidarLite v1 LidarLite v1 Price: ~130eur x 1
NiMh Battery NiMh Battery Price: ~15eur x 1
Different types of cables for every piece of hardware Different types of cables for every piece of hardware Price: ~10eur x 1
Different types of screws and nuts for every piece of hardware Different types of screws and nuts for every piece of hardware Price: ~10eur x 1

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Software apps and online services

Arduino IDE Arduino IDE
Pixymon Pixymon

Hand tools and fabrication machines

Cutter Cutter x 1
Wire Cutter Wire Cutter x 1
White and Black Duct Tape White and Black Duct Tape x 1
Double adhesive tape Double adhesive tape x 1
Soldering station Soldering station x 1

Story

The project is about a robot that has a lane keeping system algorithm designed for the NXP Cup contest. The robot has to remain in between the lines of the track at all times and go in front whenever it encounters an intersection. In order to do all of these the robot, has a Pixy2 Camera that returns the coordinates of the black lines spotted on the ground. Furthermore, a line filtering is performed which returns the two lines that the robot has to stay in between. After this step is completed, the MCU calculates the offset from the middle of the track which is given to a PI Algorithm that controls the servo motor. 

Video: https://www.youtube.com/shorts/1EBMKcFgsjk

Schematics, diagrams and documents

Electric Schematic

Code

Lane Keeping Algorithm

Credits

Photo of ciprianponta

ciprianponta

   

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