Transcript PAL-Commander

PAL COMMANDER
Mobile Robot Navigation Using Omnidirectional Vision
Mornailla László
Pekár Tamás
Solymosi Csaba
Vámossy Zoltán
RAAD
2006. June 15-17.
Budapest Tech,
John von Neumann Faculty of Informatics
Goals
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Mobile robot
Multiple navigation
types
 Homogeneous,
weakly-textured
environment
 Obstacle avoidance
 Line following
 Object following
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PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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The Construction
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László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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RC controlling
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Opto coupler (CNY 744)
6 movement direction
Parallel port
Possible controlling
commands:
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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
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László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Modell RC controlling I.
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Variable communication
frequency
Precision controlling
Serial port
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Direction
 #0 - #17: left
 #18 - #19: center
 #20 - #40: right
Speed
 #0 - #21: backwards
 #22: stop
 #23 - #40: forwards
PIC microcontroller (18F1320)
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2 level interrupt
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Modell RC controlling II.
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Generated controlling impulses (PIC)
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1. impulse: 15ms periodical time
2. impulse: setting the direction
3. impulse: setting the direction
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2006. June, RAAD
The circuitry of the extra electronics
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Mobile robots
RC
2006. June, RAAD
Modell RC
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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The PAL-optics
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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
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
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Input
Preprocessing
Decision maker
Mapper
Navigation
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
Preprocessing I.
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(1)
(2)
(3)
(4)
Preprocessing
 RGB
 HSL
 Treshold
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Edge detection
 Canny
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
Preprocessing II.
(1)
1, raw image
2, HSL filtered
3, (2) + binatization
4, HSL + pixelate
5, (4) + threshold
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(2)
(3)
(4)
(5)
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
Decision Maker
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One complex
algorithm
 Line
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 Distance
following
 Object following
 “Free fall” navigation
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Parameters
 Scanning
degree
 Threshold minimum
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
Mapper module
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László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Controlling Software
User interface
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László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Results
RC test video
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Line following
 Nearly
homogeneous
ground
 White line
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Difficulties
 White
line,
white wall
 Reflection of
the ground
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PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Relatively fast
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Results
Modell RC testvideo
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Conclusion
Easily reproducible
components
 Low-cost
 Simple reconstruction
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Improvements
 Mapping
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
module
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References
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Omnidirectional Vision page:
http://www.cis.upenn.edu/~kostas/omni.html
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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. 121 - 126. Bratislava,
Slovakia.
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Kónya László - Mikrovezérlők alkalmazástechnikája,
ChipCAD Elektronikai Disztribúció Kft., 2000,2003
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SharperCV by Peter Wentworth
http://www.cs.ru.ac.za/research/groups/SharperCV
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Thank you for your attention!
We would be glad to hear about any
interest in the project.
 Contact
[email protected]
 Web site:
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 http://palcom.bmfnik.hu
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László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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Questions?
2006. June, RAAD
PAL-Commander
László Mornailla,Tamás Pekár, Csaba
Solymosi, Zoltán Vámossy
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