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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