¶ Self Driving Vehicular Project
Team: Michelle Gutwein, William Zhang, Aashirya Varma, Tanvi Gullapudi, and Aakash Sengupta
Advisors: Ivan Seskar, Jennifer Shane, and Bernhard Firner
Project Description & Goals: Build and train miniature autonomous cars to drive in a miniature city
Technologies: ROS (Robot Operating System), Pytorch
Documentation:
¶ Week 1 (May 26-28)
- Debugged and completed the Wi-Fi connection and pairing between the car and the training server
- Test ran the car on the previous year's machine learning model
¶ Week 2 (June 1-4)
- Designed the CAD model for the camera holder and 3D printed it
- Created a camera calibration Python script for extrinsic calibration
¶ Week 3 (June 8-11)
- Designed and printed a 3D calibration box to complete the calibration pipeline
- Updated the Parts Key to include all parts required for assembly
¶ Week 4 (June 15-18)
- Debugged software
- Flashed Jetson Orin Nano
- Calibrated camera
¶ Week 5 (June 22-25)
- Recorded data on Rascal
- Built new car, Bandit
- Started migration from ROS 1 to ROS 2
¶ Week 6 (June 29-July 2)
- Started building third car
- Collected more data on Rascal
- Corrected position transform on the camera
¶ Week 7 (July 6-9)
- Tested Rascal and Bandit
- Created new wallpaper images for the city
- Programmed NPC car to mimic traffic
¶ Week 8 (July 13-16)
- Debugged the evaluator and simulator for testing models
- Finished setting up the third car, Scamp
- Looked into how to track movement and calculate distance on the NPC car