= First-Person View Self-Driving Car


Team: Adam Daniel Strub, Elliot Li, Mei Mei Castranova, and Divya Krishna 

Directed by: Professor Rich Martin


== Objective

In this project, we used specialized low-latency cameras and radios to operate remote-mode cars. The goal is to control the cars with virtual network connections and to evaluate how controllable the cars are inside a model city environment.


== Abstract

The most common usages of remotely piloted systems come in the form of drones and aircraft. This project dives into the concept of remotely piloting a car from one local network. With a local network, we can control a car from anywhere as long both computers (laptop and Raspberry Pi) are on the same network. 


== Hardware & Software


Robotic Car: Osoyoo Servo Steer Smart Car

Computer System: Raspberry Pi 4 Model B

Camera: Runcam2, used as a USB camera

Local Area Network: ////

Also includes a Micro Servo Motor so the camera has a more peripheral view


== Sockets 

We used UDP sockets to communicate between the Raspberry Pi on the car and a laptop. With sockets, we can connect with the local virtual network. The server side would be on the Raspberry Pi running, while the client side would run on the laptop. 


== OpenCV and Camera

OpenCV is a Python library that allows image processing through a camera. When using the Runcam2, there were two modes: USB memory card, and USB camera. Using USB camera mode allows the display of the camera to be seen when plugged into the Raspberry Pi. 


== Challenges 

Downloading CV2 to the Raspberry Pi

Switching the camera between the two different modes

Installing the basic code between the older and newer versions of the Raspberry Pi 

Socket binding between the computer and the Raspberry Pi. 


== Future Goals

Create a 3D-printed platform for all the hardware to go on

Have a camera that detects objects and sends a message to the laptop

Be able to drive the car efficiently and without any errors in a complicated environment



== Link to Presentations


[https://docs.google.com/presentation/d/1DwYErFn_5oCNRwruGHL6S_FsUUKBc7QbG7u0Hm6QgDI/edit#slide=id.p/ Week 1]  

[https://docs.google.com/presentation/d/1DuOCvtPPsQWoP2fHLs4lZy0z2fo985ojNHkwMUzhSMM/edit#slide=id.g258813c8ba8_0_248/ Week 2 & Project Overview]

[https://docs.google.com/presentation/d/1MI8MnZzGVH5EoGSK_WinIfGV0Py9qch7ZTMPN5ACpDI/edit#slide=id.g2591b424555_2_119/ Week 3]

[https://docs.google.com/presentation/d/1a2lcIjz3CwjnTz2MnvYSpSSARbHX9n3hpt7kzBm9mXI/edit#slide=id.g2591b424555_2_119/ Week 4]

[https://docs.google.com/presentation/d/1E1Rv5SvBEvaIPVLIZ241NuzPWBQBeROmlBKbLsb4X9o/edit#slide=id.g25c389c941e_1_5/ Week 5]

[https://docs.google.com/presentation/d/1JGw9Q9N8aF3t3f1-05fmFbQuMQ7GFHWL25fhDa6RXXo/edit#slide=id.g25eca6e4bcb_2_119/ Week 6]

== Link to Poster

 
[https://docs.google.com/presentation/d/1_cLncB-RPWGSCX2Bqi5MZbmQF7K5y10U/edit#slide=id.p1/ Project Poster]