Yolov4-Assisted Unmanned Surface Waste Collection Vessel - Electric Control Group Leader
- Preliminary work
- Recruiting teammates in the fields of mechanical, hardware and hydraulic engineering.
- Determine the implementation plan according to the needs of Party A (Guangzhou River Management Centre) and various literature
- Boat motion control
- Read various Chinese and foreign literature, combined it with the actual situation, and designed a set of MCU-NUC joint control schemes.
- Used the cascade control system to complete the motion control.
- Use CAN, UART and other communication protocols to realize the bottom control.
- Joint commissioning:
- Used the serial protocol to receive the target position identified by Yolov4 on Xavier NX.
- Used the Kalman filter algorithm made the boat follow the target garbage more smoothly.
- Result:
- The finished unmanned ship was successfully delivered to Guangzhou River Management Center and put into use;
- Received several awards and made applications for patents and software copyrights.
