Publication Date

5-2-2017

Document Type

Dissertation/Thesis

First Advisor

Freedman, Reva

Degree Name

B.S. (Bachelor of Science)

Department

Department of Computer Science

Abstract

A C++ program was developed on a Raspberry Pi 3 Model B in order to control the speed and steering of a radio controlled car so that it would autonomously drive within a lane. Images were captured by a Raspberry Pi Camera Module V2 and processed using OpenCV to detect the lane in front of the car. In each image, the intersection point of the best fit lines through the two lines of the lane was used to determine the target speed and target steering angle of the car. The program generated a pulse width modulation signal which it sent to a DC motor and a servo motor on the car through the GPIO of the Raspberry Pi in order to achieve these target values and guide the car to follow the lane.

Makefile (1 kB)
Makefile

RPiCar.cpp (22 kB)
Source Code

Extent

16 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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