Computer Controlled Car
By
Daniel K L TUNG
Supervised by
Dr. L Allison (CS)
Second Reader
Dr. R Lisner (ENG)
http://www.csse.monash.edu.au/~beetung/ccc/
Linux captured view
Project History• Two years history (1998,1999)
• 1998 - Computer(Indy) to RF controller interface, control car manually using arrow keys.
• 1999 – a on board CCD camera unit
– basic software navigation system utilizing an SGI Indy (following a track automatically)
AIM• Re-implement everything to work under Linux
• To make the existing prototype model go faster (on the same track).
• Eliminate the various issues identified in previous years– frame grabbing delay
– slow response in displaying
UHF/VHF Link
CCD Camera withTransmitter
(mounted on car)
RF Link
Video Capture(25 fps)
Image Processing(Track Extraction)
Navigation(Car Control & Map)
VCR (Composite output)
RemoteController
Frame GrabberCard
Carhttp://www.csse.monash.edu.au/~beetung/ccc
Software Extension
• Create from scratch, a fast and efficient C++ image manipulation library
• P-thread (multi-threaded library)
• Xwindows intrinsics and XShm
• more advanced navigation system– with history mapping
Semester One
• Built a simulator • Testing a few frame grabber cards.
– Built a customised Linux Kernal.– Simple capture works!– XShm with 44fps
• Can control car using arrow keys under a IBM PC.
Future Research Area
• Track Extraction Algorithm– Folding (XOR),– Scanline (peak-peak).
• Collusion avoidance (if time permits)– B-spline
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