AMV 2017

Project : Autonomous Miniature Vehicle 2017

team : HMD (Han-mo-deum)

• "Hanmodeum" means integrated circuit in Korean.

author :

• Gu-hwan Bae / School of Electrical and Computer Engineering, Pusan National University / [email protected]
• Joo-eun Lee / Department of Electronics Engineering, Pusan National University / [email protected]
• Yu-rim Park / Department of Electronics Engineering, Pusan National University / [email protected]
• Jong-woo Jin / Department of Electronics Engineering, Pusan National University / [email protected]
• Seul-woo Hwang / Department of Electronics Engineering, Pusan National University / [email protected]

System Description

Micro Controller Unit

• infineon embedded board TC23x

• 32-bit scalar TriCore™ CPU running at up to 200 MHz
• Up to 2 MB Flash and 192KB RAM

Implementation

• This project written in C language.

• No external libraries were used to implement the vehicle controller program and the image processing program.

Topics

Image processing

• Image processing application based on numerical analysis. (noise filtering, edge detecting, machine vision...)

Vehicle dynamics

• Dynamic modelling for analysis of vehicle driving.

Control engineering

• Longitudinal and lateral control of vehicle.

Application

• Path finding and avoidance of obstacles based on computer vision.

Embedded system programming

• Forward and backward scheduling.
• Using hardware components (e.g camera, dc-motor, servomotor, dms...)

Video

• Simulated driving Simulated driving
• Actual driving Actual driving