Embedded Systems Mini Project

Arrow following Dagu

The idea is having a moving vehicle moving towards a colored box with an arrow or a circle. If there is a left or right arrow, the vehicle moves 90 degrees accordingly, otherwise it stops

Prerequisites

• ROS framework
• Setup for camera (Jetson TX1 Camera used here)

Main Components

Super Master
Rotation Controller
PID Controller
Color Segmentation 
Motor Controller 

Super Node initializes the controllers. Then using a finite state machine it get values the controllers are publishing.

States

• Move PID
  • Get center of the color segmented box
  • Send the center to PID controller
    • PID controller publish motor values for Motor Controller
  • Checks area of segmented box to stop vehicle before the box
• Stop PID
  • Send signal to PID Controller to stop
    • PID controller publish brake logic for Motor Controller
• Detect Sign
  • Get the status of the detected sign
  • If it was an arrow, then publish rotation angle to Rotation Controller
  • If it was a circle, then set the next state to the Stop PID
• Rotate
  • After the rotation angle is set, publish rotate command for Rotate Controller
• Finish

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