| Title: | Development of real-time ARM-based control system for autonomous platform Genesis : master's thesis |
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| Authors: | ID Pučak, Hrvoje (Author)
ID Rojc, Matej (Mentor) More about this mentor...  |
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| Files: |  MAG_Pucak_Hrvoje_2021.pdf (1,83 MB)
MD5: AE98450991498A2A512C47F5F92CA186
PID: 20.500.12556/dkum/f3c4d280-fa25-43e6-957d-3f0e973d854c
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| Language: | English |
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| Work type: | Master's thesis/paper |
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| Typology: | 2.09 - Master's Thesis |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | 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. |
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| Keywords: | ARM, autonomous vehicle, RTOS, Jetson TX2, magnetoresistive sensor, Genesis |
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| Place of publishing: | Maribor |
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| Place of performance: | Maribor |
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| Publisher: | [H. Pučak] |
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| Year of publishing: | 2021 |
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| Number of pages: | XIV, 71 f. |
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| PID: | 20.500.12556/DKUM-79131 |
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| UDC: | 004.312.466.031.43(043.2) |
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| COBISS.SI-ID: | 67802371 |
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| Publication date in DKUM: | 02.06.2021 |
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| Views: | 1631 |
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| Downloads: | 84 |
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| Metadata: |    |
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| Categories: | KTFMB - FERI
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