This repository contains the code and assets for Clemson Univeristy course AuE893: Autonomy Science and System for Spring 2020 semester.
Akshay Mahajan
Ashit Mohanty
Manu Srivastava
Siddesh Bagkar
Vipul Kumbhar
HW2 TurtleSim basic maneuvers
HW3 TurtleBot3 basic maneuvers and emergency braking
HW4 TurtleBot3 wall follower and obstacle avoidance, simulation and physical implementation
HW5 Part 1: Lane detection by camera and lane following by turtlebot3
HW5 Part 2: April tag detection and follower
Final project is made up of main 5 maneuvers.
Wall follower - Turtlebot maintains predefined distance from right-side wall. Proportional controller based on distance from right-side wall is used to control z-angular velocity.
Obstacle avoidance - Turtlebot maintains safe front distance from obstacle and maneuvers through course until it finds yellow lanes.
lane follower - Turtlebot follows yellow lane using image-processing (to detect lane center) and proportional controller to control z-angular velocity.
Traffic sign detection - Darknet package is used for traffic sign detection. Traffic sign callback functions stop the turtlebot for 4 seconds.
People / leg tracker - People tracker package is used for leg detection. Proportional controller is to control z-angular velocity to guide tutrlebot towards nearest detected leg. If leg is not detected or lost, turtlebot goes into obstacle avoidance mode.
