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STM-based Self-Driving Cart Controller

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Introduction

'stm-cartcontroller' is essential to edge cloud based indoor self-driving cart. The controller is running on stm32f4discovery board. The cart can sense surroundings by ultrasonic sensors, psd sensors and usb camera. A Moving Edge Cloud in the cart and Fixed Edge Clouds communicate. The cart can drive autonomously.

Getting started with stm-cartcontroller

1. Development project setup

  • Step 1. Share a CubeMX file
  • Step 2. Create "stm-cartcontroller" folder
  • Step 3. Execute the shared CubeMX file
  • Step 4. Save as CubeMX project (Project name: cart) in "stm-cartcontroller" folder
  • Step 5. Click "Generate code" button
  • Step 6. Delete main.h file in "cart/Inc/" and main.c file "cart/Src/"
  • Step 7. Create/init local git repository in "stm-cartcontroller" folder
  • Step 8. Set git origin "https://github.com/icns-distributed-cloud/stm-cartcontroller.git"
  • Step 9. Git pull origin master

2. Project development

  • Step 1. Rasie an issue and create a branch
  • Step 2. Pull the branch to local repository
  • Step 3. Checkout the branch
  • Step 4. Develop functions, modules, or etc.
  • Step 5. Git commit
  • Step 6. Push the branch
  • Step 7. Make "Pull request"

Result demo

Obstacle avoidance demo

When a object is suddenly dropped in front of the cart, cart avoid the obtacle and drive safely to the destination. 😄

Indoor self-driving demo

The cart drives automonusly and safely by the self-controll system and communication between edge clouds. 👍

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