DO-Observer

DO-Observer is an autonomous terrain vehicle project. The STM32F4-Discovery board serves as the Electronic Control Unit (ECU), managing real-time control, sensor fusion, and communication for robust outdoor navigation and observation. A docker image is provided to simplify setup and ensure a consistent build environment across all platforms.

Features

• Autonomous Navigation

  GNSS(GPS) for global positioning and SLAMTECH RPLIDAR C1 for real-time obstacle detection and avoidance.

• Dynamic Observation

  Real-time sensor fusion and advanced control algorithms for adaptive, intelligent navigation.

• Status Display

  0.96" I2C OLED screen for system status and diagnostics. This could be changed with touch LED screen in the future.

• Modular & Expandable

  Architecture supports additional sensors or features.

Hardware Components

• Electronic Control Unit:STM32F4-Discovery Board
• Ethernet: W5500 Module
• Cellular & GNSS: Waveshare SIM7070G HAT
• SIM Card: Things Mobile IOT SIM
• Display: 0.96" I2C OLED
• Obstacle Detection: SLAMTECH RPLIDAR C1

Software & Development Environment

• Operating System: FreeRTOS
• HAL: STM32 HAL Libray
• Development Tools
  • Arch Linux (Host OS)
  • Neovim: A modern, extensible Vim-based text editor
  • Cmake (Build System)
  • ARM GCC (Compiler)
  • OPENOCD (flashing / debugging via SWD)
  • Docker: Used to containerize the full development environment, ensuring consistency, portability, and easy onboarding for all contributors.