Smart Pathfinding Robot

The Trouble Quad Ozan Mindek Team Leader, Image Processing Tyson Mowery Packaging Specialist Jungwoo Seo Webmaster, Networking Expert Rehan Shah Pathfinding Algorithm

Overview Maintains a dynamic environment map Dynamically calculates a feasible path to the next destination Recovers from out-of-path Provides user interface over embedded web server An intelligent automated car that visits a given set of waypoints on a provided map

Sample Mission RobotTarget 1Target 2Target 3Waypoint

Sample Mission RobotTarget 1Target 2Target 3Waypoint

Sample Mission RobotTarget 1Target 2Target 3Waypoint

Sample Mission RobotTarget 1Target 2Target 3Waypoint

Block Diagram RCM3300 CMU Cam with interface board Image data Left motor Right motor Motor control Infrared distance sensor Distance data b interface Communication with WWW client

Packaging In-place turning Two powered wheels Round design Small and mobile Small two-tiered base Component Accessibility Processor and bridge on top

Does size matter? Wheel and base size Smallest turning angle And therefore, accuracy Motors: 400 steps/rev Wheels: r = 1.25” Robot: R = 3.5” Maximum Accurate Distance = 827 cm Should suffice

Microprocessor RCM 3300 RabbitCore Programmability: Dynamic C Easy to use Built-in Ethernet capability User interface by embedded web server Powerful processing speed: 44.2MHz Better efficiency in terms of time

Camera CMU Camera Proven reliability in the past At waypoints Facing angle High resolution, 80*142 Color pattern At least 20 different colors (20*19*18)/6=1140 waypoints More discussion in later part

Motor Stepper Motor Precision is crucial Real time location between waypoints Distance traveled Direction in angle Speed has low priority

Schematic

Image Processing Algorithm Special tiles at waypoints Detecting position Detecting orientation Compare colors to entries in waypoint table

Image Processing Algorithm

Path Finding Algorithm Area will be mapped out on a tiled grid We use a coordinate system to keep track of the position of the car (x,y) coordinates will be update according to the revolution of the tires Car initially computes a feasible short path to the destination

Path Finding Algorithm It computes the angle and distance to the next waypoint along the path It then follows the waypoints on the map At each waypoint, coordinates and orientation are updated using data from the image processing algorithm. If an obstacle is encountered, the current path is discarded and new path is dynamically generated

Path Finding Algorithm

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Path Finding Algorithm