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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

mini_project