RAAD June Budapest Tech, John von Neumann Faculty of Informatics PAL COMMANDER Mobile Robot Navigation Using Omnidirectional Vision Mornailla László Pekár Tamás Solymosi Csaba Vámossy Zoltán
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Goals Mobile robot Multiple navigation types Homogeneous, weakly-textured environment Obstacle avoidance Line following Object following
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD The Construction
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD RC controlling Opto coupler (CNY 744) 6 movement direction Parallel port Possible controlling commands: 0: stop 1: forward 2: backward 4: wheels right 6: right backward 7: right forward 8: wheels left 9: left forward 10: left backward No precision controlling
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Modell RC controlling I. Variable communication frequency Precision controlling Serial port Direction #0 - #17: left #18 - #19: center #20 - #40: right Speed #0 - #21: backwards #22: stop #23 - #40: forwards PIC microcontroller (18F1320) 2 level interrupt
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Modell RC controlling II. The circuitry of the extra electronics Generated controlling impulses (PIC) 1. impulse: 15ms periodical time 2. impulse: setting the direction 3. impulse: setting the direction
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Mobile robots RCModell RC
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD The PAL-optics Advantages No need of moving components No need of focusing Direction, and angle of surrounding object can be directly computed Projects the 360º degrees of the environment to 2D Circular image Can be described by a polar coordinate-system Blind spot Properties: PAL center Inner radius (r1) Outer radius (r2) Angle of field of view
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Controlling Software Input Preprocessing Decision maker Mapper Navigation
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Preprocessing RGB HSL Treshold Edge detection Canny Controlling Software Preprocessing I. (1) (2) (3) (4)
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Controlling Software Preprocessing II. (1)(2)(3) (4)(5) 1, raw image 2, HSL filtered 3, (2) + binatization 4, HSL + pixelate 5, (4) + threshold
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD One complex algorithm Line following Object following “Free fall” navigation Controlling Software Decision Maker Parameters Distance Scanning degree Threshold minimum
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Controlling Software Mapper module
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Controlling Software User interface
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Results RC test video Line following Nearly homogeneous ground White line Difficulties White line, white wall Reflection of the ground Relatively fast
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Results Modell RC testvideo
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Conclusion Easily reproducible components Low-cost Simple reconstruction Improvements Mapping module
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD References Omnidirectional Vision page: Veress, M. and Greguss, P. (1998), Centric Minded Imaging in Space Research, In: Proc. of 7th International Workshop on RAAD'98, (K. Dobrovodsky (Ed.)), pp Bratislava, Slovakia. Kónya László - Mikrovezérlők alkalmazástechnikája, ChipCAD Elektronikai Disztribúció Kft., 2000,2003 SharperCV by Peter Wentworth
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Thank you for your attention! We would be glad to hear about any interest in the project. Contact Web site:
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy June, RAAD Questions?