Overview
A PID-controlled autonomous vehicle using the FRDM-KL25Z development board and line camera vision system. The project achieved the fastest track time in the Microcomputer Systems II class competition through optimized control algorithms and real-time path tracking.
The Challenge
Designing a control system that could reliably follow a track line at maximum speed while handling sharp turns and varying lighting conditions, all within the constraints of a resource-limited embedded platform.
The Solution
Implemented a tuned PID controller with adaptive parameters, integrated a line camera for path detection, and developed efficient real-time algorithms for autonomous navigation with sub-millisecond response times.
Key Features
- 1st place finish - fastest track time in class
- PID controller with tuned parameters
- Line camera vision system for path tracking
- Real-time autonomous navigation algorithms
- Motor control with PWM for precise speed regulation
- Adaptive algorithm for handling different track conditions
Technical Details
- C programming on ARM Cortex-M0+ processor
- Custom PID implementation with anti-windup
- Linear camera array processing and filtering
- Real-time path detection algorithms
- PWM motor control with deadband compensation
- Interrupt-driven sensor reading for low latency
- Calibration routines for sensor normalization
- State machine for race start and stop detection