Smart Pathfinding Robot. The Trouble Quad Ozan Mindek Team Leader, Image Processing Tyson Mowery Packaging Specialist Jungwoo Seo Webmaster, Networking.

<Project Name>Smart Pathfinding Robot

The Trouble Quad

• Ozan MindekTeam Leader, Image Processing

• Tyson MoweryPackaging Specialist

• Jungwoo SeoWebmaster, Networking Expert

• Rehan ShahPathfinding 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

Robot Target 1 Target 2 Target 3 Waypoint

Sample Mission

Robot Target 1 Target 2 Target 3 Waypoint

Sample Mission

Robot Target 1 Target 2 Target 3 Waypoint

Sample Mission

Robot Target 1 Target 2 Target 3 Waypoint

Block Diagram

RCM3300CMU Cam with interface

board

Image data

Left motor

Right motor

Motor control

Infrared distance sensor

Distance data

802.11b 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/revWheels: 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

Path Finding Algorithm

Path Finding Algorithm

Path Finding Algorithm

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Path Finding Algorithm