Computer Controlled Car

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Computer Controlled Car
By Daniel K L TUNG Supervised by Dr. L Allison
(CS) Second Reader Dr. R Lisner (ENG)
Linux captured view
http//www.csse.monash.edu.au/beetung/ccc/
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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)

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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

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How does it work?
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(No Transcript)
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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

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Hardware Extension

• Implement a Speedo to measure the speed
• Build a second car

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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.

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Future Research Area

• Track Extraction Algorithm
• Folding (XOR),
• Scanline (peak-peak).
• Collusion avoidance (if time permits)
• B-spline

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Track Extraction Algorithm
a scanline
Step 1
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Track Extraction Algorithm
a scanline
XOR
Step 2
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Track Extraction Algorithm
a scanline
Step 3
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Thank You