2022SpringTeam2
Bold text
Team Members
Team
- Raymond Constantine - MAE
- Martin Heir - UPS
- Sam Liimatainen - ECE
- Zhenghao “Jack” Weng - MAE
Team 2 Car
Top View
Front View
Project Overview
Design and built an autonomous human following program using Yolo driven object detection algorithm This algorithm implements a box type target system that tracks human shape objects with in the camera’s field of view We utilized custom ROS nodes to have the incoming data from the camera publishing to a steering controller node, giving commands to the vesc via twist commands
Mechanical Design
Baseplate
Electrical Design
Wiring Schematic
Programming Design
ROS Node Flowchart:
Human detection Node “Responsible for detecting and locating humans” Subscribes to camera Publishes human pixel coordinates
PID Node “Responsible for steering control” Subscribes to human pixel coordinates Publishes car steering commands
Project Demo:
https://www.youtube.com/shorts/DYD82apTZyM
Repositories https://github.com/mbheir/robocar_human_follow.git [1]
Run the code
