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LAYMO

Autonomous Vision-Based Line-Following Car with Raspberry Pi

Demo GIF

Overview

Laymo is an autonomous RC car platform that uses a Raspberry Pi and camera module to detect and follow a colored tape line in real time. It demonstrates embedded hardware integration, low-latency computer vision, and closed-loop control on resource-constrained hardware. It is implemented in Python and structured as a pip-installable package.

For an in-depth look at the methods: View the Report

Software Features

  • Object-Oriented Codebase structured into reusable modules for perception, control, and interfacing that can be imported into other projects via pip:

    UML

  • Real-time line detection using channel isolated thresholding:

    Vision Pipeline

  • PID-based control for smooth, proportional steering corrections:

$$ u(t) = K_p e(t) + K_i \int_0^t e(\tau),d\tau + K_d \frac{de(t)}{dt} $$

Hardware

Car Components

Laymo interfaces with a custom hardware stack including:

  • Commercially available RC car
  • Raspberry Pi 5
  • PCA9685 driver for precise PWM control of ESC and servo
  • DC-DC Buck converter for regulating voltage of on-board power supply
  • Arducam 5MP OV5647 camera

Wiring Diagram

Installation

This package is structured for standard Python packaging. If needed in another project:

pip install git+https://github.com/TrevorChartier/LAYMO.git

All dependencies are automatically installed to your environment.

Then, witin your script, you can import any laymo module:

from laymo.car import Car