20.500.12556/DKUM-79131 Development of real-time ARM-based control system for autonomous platform Genesis master's thesis Razvoj realno-časovnega krmilnega sistema za avtonomno platformo Genesis na platformi ARM Against the backdrop of technological advancement, machine learning and artificial intelligence, autonomous vehicles are also developing rapidly. In order for an autonomous vehicle to function properly, it is essential that the main system is provided lots of information about the vehicle, such as speed, orientation or battery state. Likewise, the system must control some actuators, such as drive motors and steering system. The specific objective of this thesis is to create an ARM-based module that will be a part of the Genesis II autonomous vehicle platform. The module is intended to accurately measure vehicle speed, estimate orientation and location, monitor the batteries, control drive motors and steering. The PCB layout of the module was developed by using Altium Designer, while the firmware was written in C programming language and by utilizing RTOS. Measurements were also performed to determine the accuracy of speed measurement process and to determine the accuracy of orientation and location estimations. V ozadju tehnološkega napredka, strojnega učenja in umetne inteligence se hitro razvijajo tudi avtonomna vozila. Za pravilno delovanje avtonomnega vozila je nujno, da ima glavni sistem na voljo veliko informacij o vozilu, kot so hitrost, usmerjenost ali stanje baterij. Prav tako mora sistem krmiliti nekatere pogone, kot so pogonski motorji in krmilni sistem. Posebni cilj te naloge je ustvariti modul, ki temelji na ARM mikrokrmilninku in bo del avtonomne platforme Genesis II. Modul je namenjen natančnemu merjenju hitrosti vozila, oceni usmeritve in lokacije, nadzoru baterij, krmiljenju pogonskih motorjev in krmiljenju. Strojna oprema modula je bila razvita z uporabo okolja Altium Designer, medtem ko je bila programska oprema napisana v programskem jeziku C in z uporabo RTOS. Meritve so bile opravljene tudi za določitev natančnosti postopka merjenja hitrosti in za določitev natančnosti ocen orientacije in lokacije. ARM autonomous vehicle RTOS Jetson TX2 magnetoresistive sensor Genesis ARM autonomous vehicle RTOS Jetson TX2 magnetoresistive sensor Genesis true true false [H. Pučak] Angleški jezik Slovenski jezik Magistrsko delo/naloga 2021-05-10 19:15:48 2021-06-02 09:57:55 2022-08-09 20:10:57 0000-00-00 00:00:00 2021 0 Maribor 0 Maribor XIV, 71 f. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.312.466.031.43(043.2) 67802371 MAG_Pucak_Hrvoje_2021.pdf MAG_Pucak_Hrvoje_2021.pdf 1 AE98450991498A2A512C47F5F92CA186 b29d016df7f352f0af0e46778d3850e53dead131029711c7a4462198eb338b38 d7736ac0-b21a-11eb-95a5-00155d581298 20.500.12556/dkum/f3c4d280-fa25-43e6-957d-3f0e973d854c https://dk.um.si/Dokument.php?lang=slv&id=150163 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0