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# Lane following

Modified 2018-06-24 by Andrea Censi

This is the description of lane following demo.

Wheels calibration completed wheel calibration

Camera calibration completed Camera calibration

Joystick demo has been successfully launched Joystick demo)

Duckiebot in configuration DB17-jwd

Calibrating the gain parameter to 0.6.

## Video of expected results

Modified 2018-06-22 by Andrea Censi

Video of demo lane following

## Duckietown setup notes

Modified 2018-06-24 by Andrea Censi

• A duckietown with white and yellow lanes. No obstacles on the lane.
• Layout conform to Duckietown Appearance Specifications
• Required tiles types: straight tile, turn tile
• Configurated Wifi network or Duckietown Wifi network

Environment of demo:

• Good lightning

## Duckiebot setup notes

Modified 2018-06-24 by Andrea Censi

• Duckiebot in configuration DB17-jwd
• Calibrating the gain parameter to 0.6.

## Pre-flight checklist

Modified 2018-06-22 by Andrea Censi

Check: Turn on joystick. Check: Turn on battery of the duckiebot. Check: Duckiebot drives correctly with joystick.

## Demo instructions

Modified 2018-06-22 by Andrea Censi

Step 1: On duckiebot, in /DUCKIERTOWN_ROOT/ directory, run command:

duckiebot \$ make demo-lane-following


Wait a while so that everything has been launched. Drive around with joystick to check if connection is working.

Step 2: Press X to recalibrate Anti-Instagram.

Step 3: Start the autonomous lane following by pressing the R1 button on joystick. to start autonomous.

Step 4: The Duckiebot should drive autonomously in the lane. Intersections and red lines are neglected and the Duckiebot will drive across them like it is a normal lane. Enjoy the demo.

Step 5: Stop the autonomous driving by pressing L1 button on the joystick and switch to joystick control.

## Troubleshooting

Modified 2018-06-22 by Andrea Censi

## Demo failure demonstration

Modified 2018-06-22 by Andrea Censi

If Anti-Instagram is badly calibrated, the duckiebot will not see enough line segments. This is especially a problem in the curve and the duckiebot will leave the lane. An example of this failure can be seen in this video for which we had a bad Anti-Instagram calibration. Hence, the Duckiebot sees not enough line segments and the lane following fails in the curve. To solve the problem Anti-Instagram needs to be relaunched. In the last part of the video the X button on the joystick is pressed and the Anti-Instagram node gets relaunched. We can see in RVIZ that the number of detected line segments gets increased drastically after the recalibration.

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