Overview
Designed and built a custom autonomous differential-drive racecar that won 1st place against 12 teams. The system runs on a custom preemptive RTOS kernel and navigates using multi-rate sensor fusion of LiDAR, IR, and IMU data.
Real-Time Operating System
Built a preemptive RTOS kernel from scratch featuring:
- 8-level priority scheduling with PendSV context switching
- Blocking semaphores and SVC process loader
- FAT file system for diagnostic data logging
- Concurrent RTOS threads with <1 µs jitter
Autonomous Navigation
Multi-rate sensor fusion combines LiDAR, IR, and IMU data as concurrent RTOS threads to navigate the racetrack. PD motor control maintains precise speed and heading.
Communication & Logging
Dual-board CAN communication links the two microcontrollers. A Wi-Fi server handles data logging and start/stop status acquisition remotely.