Tag Archives: TensorFlow Lite

[ 翻譯 ] 2018.12.3- TensorFlow Lite專案分享:Jrobot無人四輪車

翻譯

宗諭

審閱

Joe Chen、CAVEDU教育團隊

專案作者

Joe Chen

感謝作者Joe Chen授權翻譯文字內容,以及播放影片,特此致謝!

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Jrobot Self-Drive Powered by TensorFlow Lite

Jrobot無人四輪車的運作核心是TensorFlow Lite。

 

Previously, we used J-control to drive the Jrobot remotely, and this time we get rid of J-control and let Jrobot to do self-drive.

先前,我們運用J-control遠距驅動Jrobot,但這次我們不使用J-control,而讓Jrobot自行駕駛。

 

Jrobot Self Drive is another self-drive experiment based on machine learning, it is not a simulator, it is not a road vehicle, it is a footpath traveler. We built NVIDIA CNN self-drive model using Keras, collected training data, trained the model, and converted the trained model to TensorFlow Lite.

Jrobot無人四輪車是一項建基於機器學習的無人車實驗。Jrobot不是模擬器,也不是道路用車輛,而是一台小型的四輪車。我們運用Keras建構NVIDIA CNN自駕模型,然後收集訓練資料,訓練模型,最後將訓練好的模型轉換至TensorFlow Lite上。

 

TensorFlow Lite allows us to do inference on a mobile device and is the key part of this project. We added TensorFlow Lite to Jrobot Android app. When running, TensorFlow Lite is able to load the trained model, take a camera image as input and give a steering angle as output. Jrobot app runs on an Android phone (Xiaomi Mi5) sitting in the phone box on Jrobot car and control the movement of the Jrobot car through bluetooth connection with Arduino on the car.

運用TensorFlow Lite使我們可以在行動裝置上進行推論,所以TensorFlow Lite可說是這個專案的核心。我們把TensorFlow Lite加至Jrobot Android app中,當運作時,TensorFlow Lite能夠載入訓練好的模型,然後以照相機的圖像作輸入,並給出一個轉向角作輸出。Jrobot app在Android手機上運作,在下面的影片中,我們使用的手機是小米Mi5。當Jrobot準備行駛前,我們把手機放入Jrobot無人四輪車上的手機盒,並透過手機上的藍牙裝置連接四輪車上的Arduino開發板,以控制四輪車的行駛。

 

We did road test in 2 places in the neighborhood and the results show us the trained model works well. Even though it is not full self-drive, it makes human control so much easier, and opens up so many new options, which means there is so much more to do. Thank you!

我們在社區中的兩處地方進行道路測試,結果顯示訓練模型運作的相當好。即便Jrobot目前還不是完全自駕,卻使得人為控制容易許多,並且開啟了許多新選項,這也意味我們還有許多部分需要努力,謝謝。

 

接下來,請讀者們觀賞Jrobot無人四輪車的介紹影片,當中包括了兩次的道路測試(如果讀者想直接看道路測試,第一次道路測試從8:25開始,第二次道路測試從21:30開始):

 

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