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proroklab / minicar

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Trajectory calculation #1

Closed Jeslone closed 4 years ago

Jeslone commented 5 years ago

Hello. Good Job. I'm Jeslone. I'm very interested and I'd like to replicate the experiment. But I don't see which camera and where you placed it as long as I know that you used reflective markers and a kalman filter!

How the lane information is sent to the minicar via WiFi?

Can you please give me more details ?

zlg9folira commented 4 years ago

The paper published along with this project, describes how the cars localize themselves relatively. An OptiTrack motion capture system is used along with 5 markers on a vehicle and a series of calculation to further estimate the vehicle dynamics.

nhyldmar commented 4 years ago

Thank you @zlg9folira. This is how we did localisation.

How the lane information is sent to the minicar via WiFi?

We processed information on a central computer and sent the desired velocity and steering angle (and headlight brightness) to each car over a network. The packets were sent via UDP to the Raspberry Pi Zero W on each minicar over a local network. The firmware we wrote then applied these received values to the motor and servo (and LEDs).

Hope this helps. Reopen this issue if this doesn't answer your questions.