Collision Avoidance Strategies with Jetracer Pro AI Kit.
MIT License
JetRacer is an autonomous AI Racing Robot kit based on the Jetson Nano Developer Kit. Supports deep learning, auto line following, autonomous driving, and so on. The JetRacer vehicle utilized in this study was acquired from Waveshare and configured in compliance with the instructions detailed in the official Wiki.
The objective of this repository is to implement a collision avoidance scenario using the JetRacer Pro AI Kit, drawing inspiration from the approach developed for the Jetbot robot, which enables it to stay within a rectangular area and navigate around obstacles.
Achieving collision avoidance with the JetRacer Pro AI Kit presents a significant challenge due to the fundamental differences between the JetRacer car and the Jetbot robot.
Jetbot Robot Characteristics:
JetRacer Car Characteristics:
These differences necessitate a more cautious approach to training the JetRacer for collision avoidance. Alternative strategies may also be required to compensate for its limited maneuverability.
To facilitate the achievement of this objective, this repository provides a collection of Jupyter notebooks which are interactive documents which combine text, code, and visualization.
This notebook facilitates the creation of a dataset using an interactive widget.
This notebook facilitates the training of the Resnet18 neural network utilizing the dataset generated by the preceding widget.
This notebook enables the optimization of the previously developed neural network by enhancing its throughput and reducing its latency.
This notebook facilitates the replication of the Jetbot robot's behavior for collision avoidance.
This notebook employs additional strategies to circumvent obstacles that are in close proximity to the robot. Specifically, the task of collision avoidance is achieved by incorporating a reversing maneuver for the robot.
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