Hloov Kev Kawm Nrog NVIDIA JetBot - Kev Lom Zem Nrog Kev Nkag Mus Los: 6 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:25

Los ntawm dvillevaldMy GithubFollow Txog: Kuv nyiam AI thiab siv tshuab kev kawm paub, tshwj xeeb tshaj yog hauv neeg hlau Ntxiv Txog dvillevald »

Qhia koj tus neeg hlau kom nrhiav txoj hauv kev tshawb nrhiav qhov chaw ntawm lub tsheb cones siv lub koob yees duab thiab lub xeev-ntawm-tus-kos duab kev kawm tob.

Khoom siv

• NVIDIA JetBot

  NVIDIA JetBot Wiki's Bill of Materials nplooj ntawv teev txhua yam koj xav tau los tsim JetBot, nrog rau kev yuav khoom txuas los ntawm cov neeg muag khoom nrov

• Khoos phis tawj nrog NVIDIA GPU

  Yuav tsum tau cob qhia tus qauv

• BlueDot Trading 4 "RC Racing Agility Cones, Orange - Teeb ntawm 20

Kauj ruam 1: Kev txhawb siab

Txhua lub sijhawm kuv tsav tsheb hauv thaj chaw cog lus Kuv tab tom xav tias nyuaj npaum li cas nws yuav yog lub tsheb uas tsav tus kheej kom taug kev hla cov kab tsheb. Nws hloov tawm nws tsis yog qhov nyuaj nrog NVIDIA's JetBot tshiab-nrog tsuas yog ob peb puas daim duab, koj tuaj yeem cob qhia lub xeev-ntawm-tus-kos duab kev kawm sib sib zog nqus qauv los qhia koj tus neeg hlau yuav ua li cas nrhiav txoj hauv kev tshawb ntawm cov khoom ua si cones siv lub koob yees duab onboard nkaus xwb thiab tsis muaj lwm yam kev ntsuas.

Kauj ruam 2: NVIDIA JetBot & Txheej txheem cej luam

JetBot yog qhov qhib neeg hlau raws li NVIDIA Jetson Nano cov khoom siv. Koj tuaj yeem pom cov lus qhia ntxaws txog yuav tsim thiab teeb nws li cas ntawm no.

Txoj haujlwm no yog hloov kho piv txwv kev sib tsoo los ntawm NVIDIA JetBot Wiki. Nws suav nrog peb kauj ruam tseem ceeb, txhua tus tau piav qhia hauv phau Jupyter cais:

• Sau cov ntaub ntawv ntawm JetBot - phau ntawv data_collection_cones.ipynb
• Tsheb nqaj hlau qauv ntawm lwm lub tshuab GPU - phau ntawv qhia kev train_model_cones.ipynb
• Khiav qhov kev ua yeeb yaj kiab nyob ntawm JetBot - phau ntawv sau live_demo_cones.ipynb

Koj tuaj yeem pom peb phau Jupyter phau ntawv no

Kauj Ruam 3: Tsim JetBot thiab Upload Jupyter Notebooks

1. Tsim thiab teeb tsa JetBot raws li tau piav qhia ntawm no
2. Txuas rau koj tus neeg hlau los ntawm kev mus rau https://: 8888 Nkag mus rau hauv nrog tus password tsis raug cai jetbot
3. Kaw tag nrho lwm cov phau ntawv sau los ntawm kev xaiv Kernel -> Kaw Txhua Kernels…
4. Nkag mus rau ~/Notebooks/
5. Tsim cov subfolder tshiab ~/Notebooks/traffic_cones_driving/
6. Upload data_collection_cones.ipynb thiab live_demo_cones.ipynb rau ~/Notebooks/traffic_cones_driving/

TSEEM CEEB: Qhov Jupyter phau ntawv sau data_collection_cones.ipynb thiab live_demo_cones.ipynb hais hauv cov lus qhia no yuav tsum tau khiav ntawm JetBot thaum train_model_cones.ipynb - ntawm lub khoos phis tawj nrog GPU.

Yog li ntawd peb yuav tsum upload cov ntaub ntawv_collection_cones.ipynb thiab live_demo_cones.ipynb mus rau JetBot thiab muab tso rau hauv ~/Notebooks/traffic_cones_driving/

Kauj Ruam 4: Sau Cov Ntaub Ntawv Kawm ntawm JetBot

Peb yuav sau cov ntaub ntawv faib tawm cov duab uas yuav siv los pab JetBot ua haujlwm hauv kev tshawb nrhiav ntawm cov tsheb sib tsoo. JetBot yuav kawm paub kwv yees qhov tshwm sim ntawm plaub qhov xwm txheej (chav kawm):

• Pub dawb - thaum nws muaj kev nyab xeeb mus rau tom ntej
• Thaiv - thaum muaj teeb meem nyob rau hauv pem hauv ntej ntawm tus neeg hlau
• Sab laug - thaum tus neeg hlau yuav tsum tig mus rau sab laug
• Txoj cai - thaum tus neeg hlau yuav tsum tig mus rau sab xis

Txhawm rau sau cov ntaub ntawv kev qhia ntawm JetBot peb yuav siv Jupyter phau ntawv data_collection_cones.ipynb uas muaj cov ncauj lus qhia ntxaws txog yuav ua li cas. Txhawm rau khiav phau ntawv no ntawm JetBot, ua raws cov kauj ruam tom ntej:

1. Txuas rau koj tus neeg hlau los ntawm kev mus rau https://: jetbot-ip-address:: 8888
2. Nkag mus nrog tus lej password jetbot
3. Kaw tag nrho lwm cov phau ntawv sau los ntawm kev xaiv Kernel -> Kaw Txhua Kernels…
4. Nkag mus rau ~/Notebooks/traffic_cones_driving/
5. Qhib thiab ua raws li phau ntawv data_collection_cones.ipynb

Kauj Ruam 5: Qhia Neural Network ntawm GPU Tshuab

Tom ntej no, peb yuav siv cov ntaub ntawv khaws tseg los cob qhia txoj kev kawm tob tob AlexNet ntawm GPU tshuab (tus tswv tsev) los ntawm kev khiav train_model_cones.ipynb.

Nco ntsoov tias train_model_cones.ipynb tsuas yog phau ntawv Jupyter hauv phau ntawv qhia no uas tsis ua haujlwm ntawm JetBot

1. Txuas mus rau lub tshuab GPU nrog PyTorch teeb tsa thiab Jupyter Lab server ua haujlwm
2. Upload train_model_cones.ipynb phau ntawv thiab rau lub tshuab no
3. Upload cov ntaub ntawv dataset_cones.zip uas koj tau tsim hauv cov ntaub ntawv data_collection_cones.ipynb thiab rho tawm cov ntaub ntawv no. (Tom qab cov kauj ruam no koj yuav tsum pom daim nplaub tshev npe hu ua dataset_cones tshwm hauv cov ntawv browser.)
4. Qhib thiab ua raws daim ntawv qhia kev train_model_cones.ipynb. Qhov kawg ntawm cov kauj ruam no, koj yuav tsim tus qauv - cov ntaub ntawv best_model_cones.pth uas tom qab ntawd yuav tsum tau muab xa mus rau JetBot kom khiav qhov kev ua yeeb yam nyob.

Kauj Ruam 6: Khiav Live Demo ntawm JetBot

Kauj ruam kawg no yog txhawm rau tshaj tawm tus qauv best_model_cones.pth rau JetBot thiab khiav nws.

1. Hwj chim koj tus neeg hlau los ntawm pob USB roj teeb
2. Txuas rov qab rau koj tus neeg hlau los ntawm kev mus rau https://: jetbot-ip-address:: 8888
3. Nkag mus nrog tus lej password jetbot
4. Kaw tag nrho lwm cov phau ntawv sau los ntawm kev xaiv Kernel -> Kaw Txhua Kernels…
5. Nkag mus rau ~/Notebooks/traffic_cones_driving
6. Qhib thiab ua raws phau ntawv live_demo_cones.ipynb

Pib ceev faj thiab muab JetBot qhov chaw txaus txav mus los. Sim sib txawv lub khob hliav qab teeb tsa thiab saib seb tus neeg hlau ua tau zoo npaum li cas hauv ib puag ncig sib txawv, teeb pom kev zoo, thiab lwm yam. Thaum phau ntawv sau live_demo_cones.ipynb piav qhia txhua kauj ruam hauv kev nthuav dav, daim duab hauv qab no qhia txog cov laj thawj ntawm cov neeg hlau txav mus raws qhov ua tau kwv yees los ntawm cov qauv.

Phau ntawv tseem piav qhia yuav ua li cas khaws keeb kwm ntawm cov neeg hlau txav nrog dawb/sab laug/sab xis/thaiv qhov tshwm sim kwv yees los ntawm tus qauv thiab yuav ua li cas thiaj ua tau ob FPV (Thawj Tus Neeg Saib) cov yeeb yaj kiab (ntawm 1 fps thiab 15 fps tus nqi) nrog cov xov tooj ntau tshaj thiab JetBot cov ntaub ntawv ua. Cov no muaj txiaj ntsig zoo rau kev debugging, PID tswj kev kho thiab txhim kho qauv.

Muaj kev lom zem thiab qhia rau kuv paub yog tias koj muaj lus nug!:-)

Code muaj nyob ntawm Github