Project files

16th Intelligent Vehicle Omnidirectional Movement Group - National First Prize Open Source

Open-sourced the entire project except for the camera part.

I've also tried to document some ideas, control algorithms, and approaches in my blog posts.

Open-source code: https://ittuann.github.io/2021/08/30/Car.html (opens in a new tab)

• PID Control: Conventional PID and Improved PID (opens in a new tab)
• PID Tuning: MATLAB System Identification and Simulation PID Tuning, as well as Parameter Calculation Based on Lookup Formulas (opens in a new tab)
• Four Common Filters and MATLAB Simulation: First-Order RC Low-Pass Filter, Second-Order IIR Filter, Fifth-Order FIR Filter, and Kalman Filter (opens in a new tab)
• Element Handling Solutions: Roundabouts, Ramps, T-Junctions, and Speed Control Strategies for Straightaways and Curves (opens in a new tab)
• Exploring Characteristic Control Schemes for Omnidirectional Mecanum Wheels (opens in a new tab)
• Camera Line Tracking Control (opens in a new tab)
• Master-Slave Machine Setup: Anonymous Upper Computer V7, TFMiniPlus Laser Radar Ranging (opens in a new tab)
• Mechanical Structure Selection and Pitfalls (opens in a new tab)
• Miscellaneous Topics I Want to Mention but Don't Fit Elsewhere (opens in a new tab)