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All Projects → makelove → Pi_self_driving_car

makelove / Pi_self_driving_car

使用树莓派3b来实现无人驾驶汽车

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Pi_Self_Driving_Car

  • 使用树莓派3b来实现无人驾驶汽车.

    • 使用ROS把各种传感器连接起来。
    • 对动手能力要求很高。
      • 不想被折腾的朋友，建议在淘宝买现成的套餐，半成品。
      • 等熟练后，再买零件组装

  • 路线图

    • 智能小车，组装，焊接，连接电路，使用Arduino让车动起来
      • 智能小车底盘+电机驱动L298N+Arduino UNO R3+杜邦线+面包板+电池
    • 使用串口游戏手柄控制 智能小车 行走
    • 游戏手柄+智能小车+超声波传感器4个
    • 6轮越野小车
      • 组装，小车底盘+电机驱动MD02+Arduino UNO R3+杜邦线+面包板+电池
      • 树莓派3b，小车底盘+电机驱动MD02+Arduino UNO R3+杜邦线+面包板+电池
        • 树莓派3b<-->Arduino<-->电机驱动MD02<-->小车底盘
        • USB游戏手柄<-->树莓派3b
      • ROS
        • 树莓派3b安装Ubuntu Mate 16.04-->安装ROS kinetic
          • 建议装ROS Indigo，kinetic还有很多坑。
          • 重要是书店里的ROS图书都是基于Indigo
          • 本人是根据《ROS机器人高效编程》来学习的
        • 购买激光雷达，建议买哪款经典的RPLIDAR-A1 (升级版)
          • rviz 激光地图
          • 测速电机，里程计
          • SLAM
            • 本人困在【hector SLAM制作地图】，小车一转弯，地图就重叠了。
        • 摄像头

          • 双目，OpenCV

            • 视觉SLAM，困难。树莓派，运算能力差
              • 可购买 NVIDIA Jetson TX1，TX2

          • Kinect深度摄像头

            • 点云PCL
        • 多种传感器融合
          • 激光雷达
          • 里程计
          • 超声波传感器
          • IMU惯性导航
          • Kinect深度摄像头
      • NVIDIA Jetson TX2
        • 大杀器
        • 要配 跑车底盘，大容量电池，路由器
        • MIT的无人驾驶课程，使用了它
        • GPU 深度学习

  • 参考图书

开发环境

  • macOS Sierra 10.12.5
  • Python 3.6.1
  • OpenCV 3.2.0
  • Arduino IDE 1.8.4
  • ROS Kinetic
  • Ubuntu 16.04

设备

  • 智能小车
  • 树莓派3b
  • Arduino UNO R3 开发板
    • Arduino Mega 2560 功能更强大！强烈推荐！
  • 电机驱动
  • 激光雷达Scanse Sweep 40米距离 淘宝
  • 摄像头
    • 130W像素高清摄像头模组 720P 1280x720 USB2.0免驱 微距模块 淘宝
  • GPS模块
    • GPS模块 NEO-6M UBLOX 卫星定位 51单片机 Arduino STM32 例程 带有USB接口 带有SMA接口 淘宝
  • 超声波传感器 4
    • 超声波云台 带转向 固定 180 9G舵机 智能小车 测距 淘宝
  • 红外线传感器+红外遥控器
  • 电池
    • 12v锂电池组聚合物太阳能路灯氙气灯10A安时大容量12000mAh 淘宝
    • 充电宝
  • 杜邦线
  • IMU
  • 游戏手柄
    • pc360/电脑PS3/安卓PS2震动usb2.4g无线游戏手柄/无延迟/街机双打 淘宝
  • 测速电机
    • JGA25直流减速电机 带编码器 霍尔测速磁环 大扭力直流马达 淘宝
  • RGB 全彩LED 淘宝
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