Collision Avoidance
In this example we'll collect an image classification dataset that will be used to help keep
JetBot safe! We'll teach JetBot to detect two scenarios free
and blocked
. We'll use this AI classifier to prevent JetBot from entering dangerous territory.
Step 1 - Collect data on JetBot
- Connect to your robot by navigating to
http://<jetbot_ip_address>:8888
- Sign in with the default password
jetbot
- Shutdown all other running notebooks by selecting
Kernel
->Shutdown All Kernels...
- Navigate to
~/Notebooks/collision_avoidance/
- Open and follow the
data_collection.ipynb
notebook
Tip
We provide a pre-trained model so you can skip to step 3 if desired. This model was trained on a limited dataset using the Raspberry Pi V2 Camera with wide angle attachment.
Step 2 - Train neural network
Option 1 - Train on Jetson Nano
- Connect to your robot by navigating to
http://<jetbot_ip_address>:8888
- Sign in with the default password
jetbot
- In the Jupyter Lab tab, navigate to
~/collision_avoidance
- Open and follow the
train_model_resnet18.ipynb
notebook
Option 2 - Train on other GPU machine
- Connect to a GPU machine with PyTorch installed and a Jupyter Lab server running
- Upload the collision avoidance training notebook to this machine
- Open and follow the
train_model_resnet18.ipynb
notebook
Step 3 - Optimize the model on Jetson Nano
- Connect to your robot by navigating to
https://<jetbot_ip_address>:8888
- Sign in with the default password jetbot
- Shutdown all other running notebooks by selecting Kernel -> Shutdown All Kernels...
- Navigate to
~/Notebooks/road_following
- Open and follow the
live_demo_resnet18_build_trt.ipynb
notebook to optimize the model with TensorRT
Step 4 - Run live demo on JetBot
- Connect to your robot by navigating to
http://<jetbot_ip_address>:8888
- Sign in with the default password
jetbot
- Shutdown all other running notebooks by selecting
Kernel
->Shutdown All Kernels...
- Navigate to
~/Notebooks/collision_avoidance
- Open and follow the
live_demo_resnet18_trt.ipynb
notebook to run the optimized model
Caution
JetBot will physically move in this notebook, make sure it has enough space to move around.