https://zilin-chen-22.github.io/zilinchen.github.io/tag/computer-vision/Computer VisionHugo Blox Builder (https://hugoblox.com)en-usMon, 01 Jul 2024 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/media/icon_hu7729264130191091259.pnghttps://zilin-chen-22.github.io/zilinchen.github.io/tag/computer-vision/https://zilin-chen-22.github.io/zilinchen.github.io/blog/intelligent-car/Mon, 01 Jul 2024 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/blog/intelligent-car/<p>During one of our summer semester course, I led a team of three in designing an autonomous car-shaped vehicle capable of transporting objects from start to finish. The vehicle have integrated advanced features including line-following, obstacle navigation, destination location, and Bluetooth connectivity for remote control.</p> <p>I acquired proficiency in utilizing PID control algorithms to fine-tune input parameters for precise motor control. I utilized an STM32 microcontroller for vehicle control and Open MV for image capture (computer vision), trajectory planning, and dynamic output management.</p> <p> <figure > <div class="flex justify-center "> <div class="w-100" ><img alt="Picture of my group" srcset=" /zilinchen.github.io/blog/intelligent-car/summer_semester_photo_hu14420534038906574668.webp 400w, /zilinchen.github.io/blog/intelligent-car/summer_semester_photo_hu4045064630173791130.webp 760w, /zilinchen.github.io/blog/intelligent-car/summer_semester_photo_hu11713117714738198386.webp 1200w" src="https://zilin-chen-22.github.io/zilinchen.github.io/zilinchen.github.io/blog/intelligent-car/summer_semester_photo_hu14420534038906574668.webp" width="760" height="285" loading="lazy" data-zoomable /></div> </div></figure> </p> <h2 id="task">Task</h2> <p>Our vehicle is asked to finish two task automatically:</p> <ul> <li>line-following: pick up the stuff and carry it, move along the line and then place the stuff down at the end point</li> <li>path-finding: knowing the start-point and the end-point absolute position in the real world, but have a lot of obstacles in the path. The vehicle is asked to plan a suitable way for itself to find the end and put the stuff down.</li> </ul> <h3 id="hardware">Hardware</h3> <p>We use STM32 as the main controller, controlling all the motors, servos, and send and grab data from bluetooth, openMV and Gyro (We use JY901S).</p> <div style="text-align: center;"> <img src="stm32.png" alt="STM32 connect" style="width: 50%;"> </div> <p>In the main function, read OpenMV, Bluetooth, and IMU data in a loop with 5ms as one unit. One loop takes 20ms (the remaining 5ms is used to process all the above data). Refresh motor and servo control data in each loop.</p> <p>Detail issues:</p> <ul> <li>Interrupt conflict: prioritize encoder interrupt to ensure PID stability.</li> <li>Abnormal data: retain the last received data without refreshing.</li> <li>Check bit: avoid incorrect vehicle state control caused by accidental error transmission of data, enhance fault tolerance.</li> </ul> <h3 id="line-following">Line following</h3> <p>The vehicle can follow the line automatically. Here is an video when we are still testing:</p> <div style="text-align: center;"> <video src="car_line.mp4" controls="controls" width="50%"> 您的浏览器不支持视频标签。 </video> </div> <p><a href="https://zilin-chen-22.github.io/zilinchen.github.io/blog/intelligent-car/car_line.mp4" target="_blank" rel="noopener">Click here</a> if not working.</p> <h3 id="path-finding">Path Finding</h3> <p>Here is one video while testing:</p> <div style="text-align: center;"> <video src="obstacles.mp4" controls="controls" width="50%"> 您的浏览器不支持视频标签。 </video> </div> <p><a href="https://zilin-chen-22.github.io/zilinchen.github.io/blog/intelligent-car/obstacles.mp4" target="_blank" rel="noopener">Click here</a> if not working.</p> <p>Here is another one:</p> <div style="text-align: center;"> <video src="obstacles2.mp4" controls="controls" width="50%"> 您的浏览器不支持视频标签。 </video> </div> <p><a href="https://zilin-chen-22.github.io/zilinchen.github.io/blog/intelligent-car/obstacles2.mp4" target="_blank" rel="noopener">Click here</a> if not working.</p>