Transcript VISION CONTROL MICRO MOUSE - University of East London

VISION CONTROL MICRO
MOUSE
MSc Computer Systems Engineering
By: Rekapally Mahendranath
Supervisor: Dr. Nic Snailum
BACKGROUND
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The project is based on IEE Micro Mouse
competition.
It is one of the major competitions in
computers and electronics that was first
started around 1978.
The competition is to make a mouse sized
robot to navigate through a maze of certain
specified dimensions autonomously.
MAZE SPECIFICATIONS
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The micro mouse maze shall comprise 16 x 16
multiples of an 18cm x 18cm unit square.
The walls constituting the micro mouse maze
shall be 5cm high and 1.2cm thick.
Passageways between the walls shall be l6.8cm
wide.
The side of the micro mouse maze walls shall
be white, and the top of the walls shall be red.
The floor of the micro mouse maze shall be
made of wood and finished with a non-gloss
black paint.
MOUSE SPECIFICATIONS
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Micro mouse is subject to the following size
constraints -width 25cm, length 25cm.
There is no height limit.
EXAMPLE OF IEE MICRO
MOUSE & MAZE
METHODS EMPLOYED TO
SOLVE THE COMPETITION IN
THE PAST
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Wall following technique using Ultrasonic
sensors.
Infrared sensors
AIM
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The aim of project is to solve the IEE Micro
Mouse competition using Image Processing
techniques.
The project is entirely software based using
MATLAB v 6.5 to simulate and develop an
Image Processing algorithm.
ALGORITHM OBJECTIVES
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Detect whether the robot is centre, right or
left aligned in the maze by processing the
captured maze images.
Detect the turns present in the maze and
Detect any wall present acting as a barrier
to the robot.