STM-based Self-Driving Cart Controller

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. 👍