Transcript Unmanned Maze Solver - RIT - Department of Computer

Unmanned Maze Solver
Using aerial image processing and
wireless connectivity to direct a
robot through a maze.
Nicholas Hoover
Matthew Mitrik
Edward Waxler
Overview
Aerial camera views terrain below
(maze)
Converts image into symbolic form
Finds path through the terrain (maze)
Communicates path wirelessly to
unmanned vehicle (robot)
Vehicle follows given path
Major System Components
Maze
Base Station (camera, PC, wireless
node)
Robot
Maze Tile Templates
Tile templates can be used to
reconfigure a maze on the fly
Image Capturing
Sony EVI-D100
Osprey-210 Analog Capture Card

Up to 30 frames/sec
Image Processing
Intel OpenCV


Image Filtering
Template
Matching
Maze Before & After Extraction
Dijkstra’s shortest path algorithm will be
used to solve the maze
Graphical User Interface
Real-time feed
Overrides
Forward
Reverse
Rotate Left
Video
Rotate Right
Halt
Graphical representation
Resume
Transmit path
Status
Communicating
Distress
Finished
Stopped
#
Communication Network
Two nodes


Base station
Robot
Mica2 Motes
Two-way reliable communication
Mica2 Motes
Compact
Low-power
Integrated
solution
Packet Format
Description
Preamble (1 Byte)
Indicates the beginning of a packet.
Packet Number (1 Byte)
Number of payload bytes in the
packet.
Payload (12 Bytes Max)
Contains up to 12 bytes of control,
recipe, or override commands. Each
command will follow the message
format described previously.
Checksum (1 Byte)
One byte checksum to ensure the
payload was transmitted correctly.
Robot
Robot Block Diagram
Messaging Protocol
Control
t
Heartbea
Distress
ACK
Start
DONE
Recipe Commands Overrides
Forward
Left Turn
Right Turn
EndR
Forward Step
Backward Step
CCW Step
CW Step
Pause
Resume
Reset
Project Milestones
Final project proposal and design review, sample maze tiles
12/1/2005
Basic mote messaging, maze solving algorithm
12/8/2005
Website started
12/13/2005
Image recognition of robot, basic robot movement, overrides and robot UI
12/15/2005
Final maze construction, wireless protocol implementation, sensors
working
1/5/2006
Image recognition of maze tiles and robot, robot-mote communication
1/12/2006
Symbolic graph extraction of maze, full wireless communication
1/19/2006
Base station GUI, begin integration
1/26/2006
Integration and reliability testing
2/2/2006
Poster, presentation, final report
2/9/2006
Project write-up, website, and demonstration (Instructor)
2/14/2006
Public demonstration
2/16/2006
Team Assessments
2/22/2006
Bill of Materials
Component
Camera
Maze & Fixture
Price
$959.00
$50.00
Quantity
1
1
Mica2 Mote
Mica Interface Board
PIC18F4320 uController
UC3770 Motor Controller
$125.00
$95.00
$8.17
$5.56
2
1
1
4
Tires
$5.99
2
Bill of Materials II
Component
Stepper Motors
9.6V Rechargeable Battery
Battery Charger
Acrylite FF Sheets
Ball Bearings
LEDs, Switches, Misc.
QRB1113 Optoreflectors
Price
$6.49
$8.99
$26.99
$9.99
$9.99
$10.00
$1.50
Quantity
2
1
1
1
1
1
8
Questions?
???