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. 👍

icns-distributed-cloud/stm-cartcontroller