Self-Guided RC Car AI
From Hive13 Wiki
This project has been discontinued and archived, replaced by the Self-Guided RC Car 3 project.
This project is a continuation of my Self-Guided RC Car project, but enough [has changed / is changing] that I felt it deserved a new page.
"Standard issue cheap piece of junk from Radio Shack."
The car has two simple DC motors. Rear drive motor has High/Low gear box; steering assembly is spring-loaded to return to center when steering motor is not powered.
In all honesty I've been procrastinating with this project waiting to find a spare couple dollars to buy an Arduino to control it with, but the girlfriend somehow lead me to remember that quote "You go to war with the army you have," so I'm not waiting anymore (we were actually talking about this very project if you can believe it). I just happen to have a Z-World JackRabbit laying around, and I even know where the programming cable is.
The biggest disadvantages the JackRabbit has against the Arduino I can see are:
- No pulseIn() function. This means I'll need to do the timing for my accelerometer readings the hard way.
- The headers are difficult to work with and I only have one (1) ribbon cable for I/O. Not really a big deal, except of course that the digital I/O and the ADC pins are on seperate headers (did I say "of course" ?).
Each motor is controlled by a transistor H-bridge, which allows a logic signal from a controller or something to turn the motor in either direction. I had meant to use power MOSFETs, but the nearest surplus electronics store was out of the parts I wanted so I ended up with BJT Darlingtons.
Chuck's Robotics Notebook has a nice tutorial on this kind of H-bridge, and my bridges are exactly as shown on his page except for the different transistor parts (I'm using TIP30 for the PNP's and 2N6387 for the NPN's). Since I'm now going to be using a controller I actually care about, my complete lack of motivation to use opto-coupling has waned considerably.
I am switching from two fixed IR sensors to a single sensor mounted on a hobby aircraft servo. I got a box of these servos from Hobby King super cheap (under $4 a piece?!), but the shipping costs from HONG KONG kinda necessitate a large order to really be worth it. Since I won't be able to use the ADC pin of my controller without a second ribbon cable, I'll still be using the op-amp comparators from the old project, but in a slightly different way. Before I had one (1) trigger level on two (2) sensors - now I'll have two (2) trigger levels on one (1) sensor, so I can distiguish between Close(11), Medium(01), and Far(00).
With the goal of creating an AI decision-making routine, the car is going to need a source of pain. A 2-axis accelerometer (pulsed output... argh) I bought years ago will providing this crucial learning element. No Pain No Gain
"Probably the only thing making this project unique in any sort of way is that at this point I'm not using a microcontroller." - Quote from old Self-Guided RC Car project.
Oh well. Trying to make it AI is my attempt to keep some unique-ness. At this point I only know that I'll be using a Back-Propagation Neural Network with an accelerometer providing the error signal. The car's general happiness will be determined by:
- Moving - Very Happy
- Not Moving - Uncomfortable
- Suddenly Changing from Moving to Not Moving - Severe Pain
I can't help but think of the super-happy little flying robot following Ford around in the Hitchhiker's Guide. Don't panic if you're not familiar with this classic series of novels, but you really should leave your house this very moment and go buy a copy right now - and NO, just seeing the movie doesn't count. While the movie was a great tribute that I proudly own a (legal) copy of, you really do have to read the books to fully appreciate the genius of Douglas Adams (may he rest in peace).
Current Status - Cancelled
- Project replaced by Self-Guided RC Car 3 on Nov 20th, 2009.
Sept 10, 2009
Created new project page.
Mounted IR sensor to servo and then servo to vehicle.
Made reference to HitchHiker's Guide in wiki page.
Began re-wiring H-Bridges, but got wrapped up in updating the wiki page and only got one bridge done. I felt it was important to take a shot showing the difference between the two:
The black lead on the new bridge enables it to be used with a PWM signal (active low), although I'll most probably tie the enable on the steering bridge to ground since PWM is completely worthless with that motor.
Sept 13, 2009
Found terminal strip down in the basement and mounted it to car.
Determined mounting method for controller board and two (2) breadboards (one for H-bridges, second for sensors).
Completed 2nd H-bridge. Tested bridges for operation with controller board.
Set triggers for IR sensor and tested input to controller. Have to admit I'm suddenly extra disappointed in the range and response of the IR sensor. The fact that 0 cm and 30 cm look the same to the sensor could be a problem for the neural network - hopefully short-term memory design can compensate. I'm thinking that 2nd trigger level will be of little value since the overall range is so short, but I guess we'll see.
Sept 14, 2009
Car assembly completed and basic functions tested (accelerometer, servo, motors, IR sensor). Ready for programming...
The intended AI model hinges on the ability of the accelerometer to alert the system that the car has ran into something, independently of anything else, so at this point I'm playing with trying to make that happen. The software the car is loaded with now attempts to just go forward full speed until it hits something, then back up full speed until it hits something, then go foward, etc. Right now this works about 72% of the time (a very exact eyeball statistic).
I think the issue is that the accel is really designed to be used as a tilt sensor - a job it does surprising well. I DO see slight up or down spikes in the output when the car suddenly changes speed, but these are very fleeting and if you don't happen to be looking at THAT moment they're easy to miss. The JackRabbit has some limited multitasking ability, and that may be what is required: a seperate thread constantly watching the accel and setting flags when an up or down spike event occurs. This may even require a stack for flag events.
I had originally planned three (3) servo positions for the IR sensor, (+/-) 90 and dead center. After playing with the working thing I think I'll be adding the 45 degree marks. This will increase the size of the neural net slightly, but I think it's well worth it.
I can hardly wait to see if this thing will be able to learn obstacle avoidance on its own!
Sept 22, 2009
Over the past few days I've been working on getting a usable error signal from the accelerometer. I've tried several approaches which all seemed to have good theory behind them, but uh, well... what I've ended up with is a jerk detector (rate of change in acceleration). If the jerk is above a certain threshold we'll call it a crash. If the jerk stays at zero too long, we'll call that idle (the signal bounces around within a certain limit when the car is moving).
This afternoon I implemented the above planned behaviour (forward, crash, backward, crash, repeat) and took the car along for the Hive meeting. Having some real space to run around in showed that the jerk detector was working more-or-less. Biggest issues:
- Bumps in the floor can signal false crashes
- Running under something that's at H-bridge height sucks (almost blew the bridge when breadboarded components got shorted together)
On the plus side - the car really seems to be able to take a beating (H-bridge issue aside). I'm going to shorten the idle timeout, but for now the crash jerk-level will remain the same, although 'bumps' will certainly confuse the AI routine.
Sept 24, 2009
First stab at coding the control network. I'd like to say it works. It might, even...
Servo change: the servo now has 8 position stops (technically) - this way I can use the binary output of three nodes as the position address without a special control routine. The positions aren't as would be expected - see pic. I'm trying to have some method to the madness (note the symmetry). Basically Node 1 says turn left. Node 2 says turn alot. Node 3 says turn a little (a little + a lot = midway).
All in all the initial tests were hopeful. The car just kinda sits there for a while and then suddenly starts doing random things (expected). Watching the little servo head looking around is very entertaining. It eventually starts going a direction. The longest I've been able to let it run, it would instantly start moving forward if it crashed while going backward, and it was starting to make the association (forward + sensor input = crash), but only in a minor way. Unfortunately I don't have much space to run in - the crash detection requires the car to have a little speed. I haven't figured out a workspace at the Hive building yet, so test runs down there are strictly observational.
My plan is to do a little more testing tonight and then go down to the hackerspace with a fresh battery charge tomorrow afternoon and see what happens when there's room to move around in.
Sept 25, 2009
Very mixed bag with the open space testing. Most of the time the results were disappointing. On one (1) run the car actually got running very well. There was even a point were the car would look to the side before turning (way cool). Since it's only goal in life is to keep moving, it occurred early on that the car may end up doing a forever donut, which is eventually what it started doing. If someone or thing got in the way it reacted well and then went back to its NASCAR loop (turn left dummy). Unfortunately the ground wire on the servo motor came loose at some point and I had to power down the system to get it to stand still so this could be fixed. Subsequent test runs were complete wastes of time and the car was not able to re-learn anything in any satisfying way.
The results suggest that there is either something wrong or something missing from the learning routine. It appears that the car currently needs a very special set of conditions near the beginning of a run or it never gets going properly, which is horrible. The current setup has a fixed learning rate and relies on negative learning, eg What not to do. At no point does the software reward good behaviour - it only punishes the bad. I need to sleep on this...
I have done some more testing up at the Hive and am not happy, to be blunt. Adding positive feedback to the net routines seemed to help to some extent, but the physical hardware is preventing the system from achieving the potential I still believe it has.
The biggest problem seems to be the mounting location of the servo'd IR sensor. Being mounted on the front of the car, if the car gets stuck facing a wall, the wall is within the deadband of the IR sensor and the car no longer sees the wall. A suggestion made by Chris Davis was to add a long enough protrusion to the front of the car to hold it back from the wall to overcome the deadband region. I thought this was a good idea but I ultimately failed in building up anything viable. The next approach is to move the servo back, but with my giant h-bridges taking up so much space, how to mount everything becomes a problem.
The second biggest problem is with crash/idle detection. It has never quite gotten to the level of accuracy I had hoped for. To make it sensitive enough to detect low speed crashes opens the door for too many false crashes (bumps in floor are seen as crashes). The idle routine also has problems I don't even care to discuss.
I am also still unhappy with not being able to get an analog signal from the IR sensor into my controller board, which I think could be a big benefit.
To address these issues I will be making dramatic changes to the system that amount to a complete redesign:
- Replace my discrete component h-bridges with special purpose IC bridges.
- This will add to the cost of the system, but the chips take up much less space, and have current sensing outputs builtin. This gives the controller an analog signal that can be used to detect motor stalls (trying to turn but can't for whatever reason), so the system will know when it's "stuck," among other things.
- Ditch the accelerometer all together.
- May add it back in at some point, but the new h-bridge sensing ability makes this unneccesary in my mind, for now.
- Replace JackRabbit with a PIC controller, which was my original first choice for the system controller.
- Saves a lot of space.
- Much less RAM to work with, but acceptable.
- Plenty of analog inputs.
- Pulse width modulating the drive motors becomes more reaonable.
- Unfortunately may be less desirable to someone wanting to repeat this project, but it really seems the best option overall. I will post my final PIC assembly code upon the project's completion, at the least.
- Re-position servo.
- Rethink general mounting approach.
I hated everything but the concept - see 'Early October' work log entry for discussion.
- IR Sensor too close to front of car
- Discrete H-Bridges take up too much space
- Crash and idle detection sucks, to be blunt
- Analog readings of IR sensor with current setup not possible; would be nice