1. CS 7455 Term Project Robot control by Machine learning
William Hawkes
Mobile Application Development

2. Overview Project Description Project Procedure/Methodology
Objective
Results
Project Procedure/Methodology
Robot construction
Android App – Raspberry Pi 3
Algorithms used for Computer Vision
Key Findings/Results
Results obtained with robot construction
Results obtained using Computer Vision
Conclusion

3. Project Description Objective Results
To use an Android phone to relay commands and control a robots movements
To develop an Android app that takes camera images, uses image processing and completes the following tasks
Follow line drawn on paper
Turn to follow motion.
Results
Robot construction is complete
Fairley successful results with Function1 and 2

4. Procedure/Methodology
Robot Construction
Two designs
$12 kit from EBay (Figure 1)
Great starting point
Not very sturdy or accurate.
Used Arduino with Bluetooth Serial – far too much delay
Custom design using kit as reference (Figure 2)
Much sturdier construction
Uses higher quality motors
Used Raspberry Pi 3 with built-in WiFi and Bluetooth – much more powerful and responsive

5. Procedure/Methodology
Android App – Raspberry Pi 3
Android application using OpenCV library and Bluetooth communication
Raspberry Pi using control program written in c
Communicates with Android through Bluetooth serial port

6. Procedure/Methodology
Algorithms used for Computer Vision
Simple command interface with Raspberry Pi 3
CMD:FWD CMD:REV
CMD:LT CMD:RT
CMD:STOP CMD:REBOOT CMD:SHUTDOWN
CMD:RL:XX CMD:RR:XX
Display Image

7. Procedure/Methodology
F1 Following a line

8. Procedure/Methodology
F2 Follow motion

9. Procedure/Methodology
F2 Follow motion (continued)

10. Procedure/Methodology
Figure 1) EBay kit using Arduino

11. Procedure/Methodology
Figure 2) Custom design using Raspberry Pi3

12. Procedure/Methodology
Controller board – prototype (left) finished board (right)

13. Procedure/Methodology
Custom Buttons:
Create image, save in drawable-[display size]
Create xml file below in drawable (forward_button.xml)
Add button to view with background set to your image
Android Application – View of motion control (F2)

14. Key Findings/Results
Steering method used in this project did not allow adequate response time to follow a line with much deviation.
Auto focus of camera an issue, especially with motion follow.

15. Conclusion Overall happy with the results of this project
Learned a lot about using OpenCV
Furthered my knowledge of Android development
First experience using Raspberry Pi 3 and hardware interfacing with it
Improvements
Different steering mechanism.
Improved algorithm to detect motion.
Try image recognition.
Error detection.
Try using midpoint function for motion detection.

16. Questions and Discussion