This repository is a school project leaded at Ensta Bretagne about the building of a car and his automating. The car is a one-tenth scale replica and was built with 3d printing, turning and milling. Here is a picture of the final result of his building.
Real Kart 🚙
This car was designed using Autodesk Inventor and the files are available in the CAD folder.
CAD of the kart 🗺
After the building of this car, we need to robotize it. In order to do that, we decided to use a Raspberry Pi 3B+ and some sensors.
| Sensors | Used | Dope-Level |
|---|---|---|
| GNSS | ❌ | 🐢💥💨💩 |
| Inertial Unit | ❌ | 🌈 |
| Pi camera | ✔️ | 🦄 |
We decided to use ROS (Robot Operating System), the well-known Middleware for mobile robotics. We created our own nodes to control this robot.
Insert the node graph here
Here is a tracker for each task we have to do.
| Task | Responsible | Progression | Note |
|---|---|---|---|
| PWM driver | Quentin | ✔️ | |
| Image Processing | Paul-Antoine | ✔️ | |
| Launch on Boot | Quentin | ✔️ | |
| PWM driver | Quentin | ✔️ | |
| CAO | Jules | ✔️ | |
| Electronic board | Quentin | ❌ | Lack of electronic items |
| V-REP Simulator | Gwendal | ✔️ | |
| Report | All | ♻️ |
A simulator is implemented in V-REP in order to check system behavior in simulation. This simulation is base interfaced with ROS via a LUA script which control the simulated car in the V-REP environment. It let us cerify our node without any changes because the low level nodes are replaced by the ROS-V-REP linker.
Here is the link toward the YouTube video 🏁 📸 ⏯ :
https://www.youtube.com/watch?time_continue=44&v=_vIXo1TvG0w&feature=emb_logo
- Jules Berhault -
- Quentin Brateau - Teusner 😎
- Paul-Antoine Le Tolguennec -
- Gwendal Priser - gwendalp 🌊
- Mamadou Dembele -
This project is licensed under the GNU General Public License v3.0 - see the LICENSE.md file for details