Скачать или смотреть Parallel Parking Robot using STM32F3 Board

Developed a Robot that traverses a maze finds an open spot and parallel/perpendicular parks itself without the necessity for human interaction. The project was build using an STM-32 Board. The environment for project was constrained. We had to use cheap sensors and motors, so the code needed to make up for any un-expected values from those sensors. We used a 3$ distance/proximity sensors to determine the distance between the vehicle and any possible obstructions. We used a median filter to filter out erroneous values. Our state machine then determines the appropriate action. We used encoders to determine the distance covered by the vehicle and also to calculate the angle of rotation while making turns. We used PWM to control the speed of the motors . The STM 32 board is mounted on top of an interface board that acts as the interface between the peripherals and components. The interface also contains a UART to Micro-USB converter that allows for debugging by using print statements.