S16: Ahava

VisionCar

This project aims at tracking a known object from a vehicle and follow the target at a pre-fixed distance. The RC car is mounted with a camera which is interfaced to a Raspberry Pi Compute module. The Compute module performs the required image processing using OpenCV and provides relevant data to the Car Controller for driving. An Android Application is developed to allow a user to select an object by adjusting the HSV filter thresholds. These values are then used by the imaging application to track the desired object.

Objectives & Introduction

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Team Members & Responsibilities

Aditya Devaguptapu

Ajai Krishna Velayutham

Akshay Vijaykumar

Hemanth Konanur Nagendra

Vishwanath Balakuntla Ramesh

Schedule

Week#	Date	Task	Actual	Status
1	3/27/2016	Selection of platform for Mono / Stereo Vision processing. Completion of PWM API Documentation.	To confirm on suitable platform for Mono / Stereo Vision processing. To understand the PWM signals transmitted from the RCU for driving the car motors.	Completed
2	4/03/2016	To decide on suitable algorithm for Object Detection and Depth Perception. Establishing direction and speed control on the car. Order components.	Decided on disparity mapping for depth perception. Pending work is camera setup and calibration for this purpose. Direction and speed control of the car is completed	In Progress
4	4/20/2016	Implementation of Imaging Algorithm and Testing on a PC Environment. Complete setup of Open CV library and verification of video streaming on the development platform. Decision on Bluetooth or kill-switch implementation for car control.	PC setup and testing is in progress. OpenCV is setup and running on the platform. Pending - Stream data from the cameras	In Progress
5	4/27/2016	Mounting controllers and cameras on the car. Complete Imaging and verification on the board.		Incomplete
6	5/04/2016	Integrating Imaging results with the car controls.		Incomplete
7	5/11/2016	Testing car integrated with control signals and perform calibrations.		Incomplete
8	5/18/2016	Final Testing and Enhancements.		Incomplete

Parts List & Cost

Sl No	Item	Cost
1	RC Car	$188
2	Remote and Charger	$48
3	SJOne Board	$80
4	Raspberry Pi Compute Module	$122
5	Raspberry Pi Camera	$70
6	Raspberry Pi Camera Adapter	$28
7	LCD Display	$40
8	General Purpose PCB	$10
9	Accessories
10	Total

Design & Implementation

Hardware Design

The hardware design for VisionCar involves using a SJOne board, Raspberry Pi Compute Module and Bluetooth Transciever as described in detail in the following sections. Information about the pins used for the interfacing of the boards and their power sources are provided.

System Architecture

The hardware design for VisionCar involves using a SJOne board, Raspberry Pi Compute Module and Bluetooth Transciever as described in detail in the following sections. Information about the pins used for the interfacing of the boards and their power sources are provided.

Power Distribution Unit

Power distribution is one of the most important aspects in the development of such an embedded system. VisionCar has 6 individual modules that require power supplies of various ranges for its operation as shown in the table below.

Module	Voltage
SJOne Board	3.3V
Raspberry Pi Compute Module	5.0V
Servo Motor	3.3V
DC Motor	7.0V
Bluetooth Module	3.6V - 6V
LCD Display	5.0V

As most of the voltage requirements lies between 3.3V to 5V range we made use of SparkFun Breadboard Power supply (PRT 00114). It is a simple breadboard power supply kit that takes power from a DC input and outputs a selectable 5V or 3.3V regulated voltage. In this project, the Input to the PRT 00114 is provided by a 7V DC LiPo rechargeable battery.

The schematic of the power supply design is as shown in the diagram below. It has a switch to configure the output voltage to either 3.3V or 5V.

For components requiring a 7V supply, a direct connection was provided from the battery. Additionally, suitable power banks were used to power these modules as and when required.

Connection Matrix

Car Control

Motor Interface

Bluetooth Interface

Image Processing

Software Design and Implementation

Car Controller

Compute Module

Testing & Technical Challenges

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My Issue #1

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Conclusion

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Project Video

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Project Source Code

Sourceforge Source Code Link

References

Acknowledgement

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References Used

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Appendix

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