Winning an autonomous line following robot competition at CentraleSupélec. The robot is capable of navigating lines, intersections and roundabouts
Turning at an intersection
Detecting an obstacle and changing the route to avoid it
Navigating a roundabout
I have included many useful functions to reproduce the result in utilities.py such as:
image_preprocessing: image preprocessing to isolate white lines in an image
direction: finds the main line in an image and returns its position in pixels
turn_detection: detects left and right turns if they are close
detect_red: detects red in an image