1. Vision Guided Navigation Andrey Kozitsky Seth Kramer

2. Overview Introduction to the VGN User Interface Image Recognition System Software Architecture Vehicle Communication Vehicle Control Testing Strategy Difficulties

3. What is the VGN? The VGN will navigate a vehicle to a destination using only vision as a form of feedback. Birds-eye view of a small area will be processed to practice obstacle avoidance. The VGN will be successful when all destination points have been visited in a user-defined order without any collisions.

4. Components of the VGN Field Graphical User Interface Web Camera Image Recognition System Pathfinding and Control Vehicle Communication and Control

5. Field 5’ x 5’ Field Black Background Yellow Boundaries White Obstacles Red/Blue Vehicle

6. Graphical User Interface

7. Web Camera Video Input TypeDigital Video Camera Software Type Creative Webcam Live! Ultra Digital video capture speed30 frames per second Digital video capture resolution640 x 480 Picture Capture Quality1.3 MegaPixels OS Required Windows XP, Windows 2000 Video Input Color SupportColor Video Input: Interface TypeUSB 2.0, 1.1 Focus AdjustmentManual Lens Angle76 Degrees

8. Image Recognition System Web Camera snaps a picture every second IRS is a standalone library that offers the following: –Matrix representation of field with values of: 0-Field 1-Obstacle 2-Red 3-Blue –Vehicle Direction -180° to 180° –Field, Vehicle, and Path checking

9. Image Recognition System HSL Color Space Hue-Saturation- Luminance Boundaries have high Saturation Obstacles have high luminance Navigable Field has low luminance

10. Image Recognition System YCbCr Color Space Y is luma component Cb is blue chroma component Cr is red chroma component Red part of tank has high Cr Blue part of tank has high Cb

11. Image Recognition System

12. Y axis 000111000000000 100110000000000 200100000000000 300000000000000 400000000000000 500000000000000 600000000000000 700000000000000 800033333222000 900033333222000 1000033333222000 1100033333222000 1200033333222000 1300000000000000 1400000000000000 1500000000000000 1600000000000000 X axis 0123456789 10101 1212 1313

13. Image Recognition System Y axis 000111000000000 100110000000000 200100000000000 300000000000000 400000000000000 500000000000000 600000000000000 700000000000000 8000 33333 222000 9000 33333 222000 10000 33333 222000 11000 33333 222000 12000 33333 222000 1300000000000000 1400000000000000 1500000000000000 1600000000000000 X axis 0123456789 10101 1212 1313

14. Software Architecture The system is organized into four packages –PathFinder (Controller) –Image Recognition System –Vehicle –View (Graphical User Interface) Pathfinder interfaces with the other packages

15. PathFinder

25. Vehicle Communication Using SCI Communications and.NET Framework 2.0 –System.IO.Ports.SerialPort 8 Bit OpCodes, 3 Bit instruction and 5 Bit parameter sent to HCS12, returned on completion of instruction. If instruction not returned within 5-10 seconds, controller will send ACK and then prompt user Instruction NameOpCodeParameter RangeComments ACK0001111110Acknowledge for Communcations FORWARD001XXXXX0—31Send Vehicle Forward BACKWARD011XXXXX0—31Send Vehicle Backward TURN_LEFT1000XXXX0—12Vehicle rotates counterclockwise TURN_RIGHT1010XXXX0—12Vehicle rotates clockwise RESUME1100000000Continue after a STOP STOP1110000000Wait for RESUME to be given

26. Vehicle Control Moving when 0Vdc applied to contact switch Stopped when 5Vdc applied to contact switch

27. Testing Strategy VGN is a success if it exhibits the following: –Navigate a field of obstacles and reach the appropriate destinations in the order specified –Reach each successive destination in a timely manner –User is notified if the proposed destination is unreachable –Vehicle motion stops and resumes from the GUI –User can easily pick desired locations and view the field

28. Difficulties IRS is heavily dependent on current lighting levels; this may require a lookup table and restrictions on lighting conditions PathFinder may require extensive implementation and testing time for the determining possible paths in worst-case scenarios Vehicle’s drive system is made of plastic, this may result in purchasing of multiple vehicles

29. Questions?