This project is focusing on self-navigation smart RC-cars system. Started from spring semester, 2025. For the exact development history, please check the Chapter "Developing History".
The project contains 2 modules, including leader car and follower car. When developing the system, please first refer the chapter "Leader Car", and then refer the chapter "Follower Car".
The leader car do the navigation in indoor condition.
For the hardware, we used Hiwonder MentorPi M1 Robot car as the leader. Refer below documentation for Hiwonder https://docs.hiwonder.com/projects/MentorPi/en/latest/docs/1.getting_ready.html
Run these commands inside the leaser_car/ros2_ws directory to build the SLAM packages and source the environment.
# Build the workspace with symlink installation
colcon build --symlink-install
# To run the leader car run below commands in the terminal
ros2 launch controller controller.launch.py
ros2 run teleop_ctrl teleop_ctrl # Control the robot with the help of keyboard keys as instructed in the same terminal
# Source the overlay (using ZSH)
source install/setup.zsh
# To run LiDAR based SLAM, follow the commands in the terminal
sudo apt install ros-humble-toolbox # to install SLAM toolbox
ros2 launch slam slam.launch.py # to launch slam file
ros2 launch slam rviz_slam.launch # to visualize the slam map in rviz2Since we did not complete the work of self-navigation part. When making follower car to chase the leader, please use keyboard to control the leader-car.
The follower car carry goods and chase the leader car.
We choose the car "Exceed RC Rally Monster Short Course Truck" as the follower. Here is one of the purhase link: https://www.ebay.com/itm/186666765799
We use Raspberry Pi 4 Model B as the controller
Before assembling and wiring, please refer the GPIO map of the RPi4 Model B. Here is the link
The ESC controls the speed of the RC-Car. To connect ESC with RPi, please use Male-to-Female Dupont Wires
Black port - Ground
Red port - (None)
White port - GPIO 18 (PCM_CLK)
The Servo controls the direction of the RC-Car. To connect ESC with RPi, please use Male-to-Female Dupont Wires
Brown port - Ground
Red port - 5V
Yellow port - GPIO 13 (PWM_1)
After finishing the wiring of ESC and Servo, please start the wiring of Jetson Orin Nano
Before assembling and wiring, please refer the GPIO map of the Jetson Orin Nano. Here is the link
Jetson Orin Nano needs communication with Rapsberry Pi. Please use Female-to-Female Dupont Wires:
UART1_TX (Jetson) - GPIO 15 (RXD)(RPi)
UART1_RX (Jetson) - GPIO 14 (TXD)(RPi)
Please use a USB hub to connect the Jetson Orin Nano
We use Intel Depth Camera D415 and 2 normal Web Cameras for vision. Please connect them with the USB hub.
Please first run "Code on Jetson Orin Nano.py", and make sure that 3 cameras vision are all activated.
Put the Follower RC-Car on the Ground, and the leader car should be ahead of the follower.
Run "Code on Raspberry Pi4.py". Use keyboard control to make the leader-car move forward, and you will see the follower car chasing the leader.
As of Dec 5th, 2025, this project includes 2 reports:
- Mid-term Report - 2025 Spring Semester
- Final-term Report - 2025 Spring Semester
- Mid-term Report - 2025 Fall Semester
- Final-term Report - 2025 Fall Semester