project advisors: dr. jing wang & dr. in soo ahn april 26...
TRANSCRIPT
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Gregory Bock, Brittany Dhall, Ryan Hendrickson, & Jared Lamkin
Project Advisors: Dr. Jing Wang & Dr. In Soo Ahn
Department of Electrical and Computer Engineering
April 26th, 2016
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2Outline
I. Introduction
II. E-puck – Brittany
III. Kilobot - Jared
IV. QBot 2 – Ryan & Greg
V. Summary & Conclusions
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3
I. Introduction
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4Objectives
Design and Experimental Validation of Cooperative Control Algorithms
Sensing/communication between robots
Implementation of local flocking control algorithms
Implementation of local formation control algorithms
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5Project Background
Cooperative systems found in nature
Flock of birds
School of fish
Swarm of insects
http://www.huffingtonpost.com/2013/10/07/plane-hits-bird-ohare_n_4058132.html
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6Possible Applications
Cooperative systems found in engineering
Smart Grid
Sensor Network
Traffic Network
http://www.siemens.com/press/en/events/2012/corporate/2012-06-wildpoldsried.php
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7Heterogeneous Groups
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8Heading Alignment
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9Point Consensus
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10Following
3
1
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11Design Constraints
Must overcome limited communication among networked robots
Must overcome limited sensing capability of robots
Must overcome system uncertainties
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12Test Platform – Kilobot
Diameter of 3.3 cm
Two differential vibration motors
IR transmitter and receiver (7 cm range)
Ambient light sensor
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13Test Platform – E-puck
Diameter of 7 cm
IR transmitter and receiver ring (25 cm range)
On-board CMOS camera
Bluetooth 2.0
dsPIC 30F6014A on-board computer
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14Test Platform – QBot 2
Open-architecture autonomous ground robot
Xbox 360 Kinect
Kobuki robot base
Gumstix DouVero Zephyr on-board computer
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15
II. E-puck – Brittany
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16Work Accomplished
Software & hardware implementation
Object detection/following
Odometry
Vicsek Model
Fix battery issues
https://www.cyberbotics.com/item?id=8
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17Infrared proximity sensors
8 infrared proximity sensors
Composed of two parts -IR emitter & photo-sensor
Can detect objects within 4 centimeters
IR0IR1
IR2
IR3
IR7
IR4
IR5
IR6
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18Object Detection and Following
Proximity sensors -> detected distance
Compare with true specified distance
Velocity = gain*(specified distance – detected distance)
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19Object Detection
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20Object Following
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21Odometry
Using odometry the E-puck can compute their position and orientation
𝑥 = 𝑆 ∗ 𝑐𝑜𝑠 𝜃(𝑘) + 𝜃
2
𝑦 = 𝑆 ∗ 𝑠𝑖𝑛 𝜃(𝑘) + 𝜃
2
𝜃 𝑘 + 1 = 𝜃(𝑘) + 𝜃
3 𝑆 – average change in steps of both left and right
motors
𝜃 – change in the angle of the agents heading
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22Vicsek Model
𝜃𝑖 𝑘 + 1 =𝜃𝑖 𝑘 + 𝑗=1
𝑛 𝜃𝑗 (𝑘)
𝑛 + 1 𝜃𝑖 𝑘 + 1 - Next heading of agent
𝜃𝑖 𝑘 - current heading of agent
𝑗=1𝑛 𝜃𝑗(𝑘) - sum of all neighboring agents at time k
n - number of neighboring agents
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23Vicsek Model
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24E-puck Battery Problem – Solution
Original Design Solution #1 Solution #2
•Resoldered positive terminal
•Added an addition on top of E-puck, for better connection to terminals
•Bad connection between positive and negative terminals from battery to E-puck
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25Testing communication between E-puck and Kilobot
Tested E-puck communications with infrared receiver connected to oscilloscope initially, followed by testing with Kilobot
Verified E-pucks sent message with correct protocol
Verification of communication between E-puck and Kilobot would be accomplished by observing change in LED from red to green
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26Infrared Receiver Circuit
http://www.ebay.com/itm/like/141932065528?lpid=82&chn=ps&ul_noapp=true
38kHz Infrared Receiver Module
Infrared Receiver Circuit
Used a 5V supply & oscilloscope to view the signals
5 V DC SIGNAL
330 Ω
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27
III. Kilobot - Jared
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28Kilobot
Atmega 328 (8-bit @ 8 MHz)
32kB flash, 1kB EEPROM, 2kB SRAM
2 vibration motors
IR LED and receiver
Ambient light sensor
https://lh3.googleusercontent.com/-g2lSChnX4DI/U-1VyxOKwsI/AAAAAAAAL9A/3mi89VoBBfs/s640/kilobot-closeup-overview.jpg
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29How Kilobots Communicate
Use infrared light
Measures light intensity to calculate distance
Messages are sent every 200 milliseconds
https://i.ytimg.com/vi/ISMwLCFwgK4/maxresdefault.jpg
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30Color Synchronization Video
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31Kilobot Movement: Orbiting
Kilobot
Zone of Repulsion
Kilobot
Zone of Orientation
Zone of Attraction
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32Multiple Agent Orbiting
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33Simple Localization: Gradient
Can determine how many agents are displaced from a specified agent
Individuals receive gradient values from local agents until a buffer is full
Smallest value in buffer is incremented by 1, which becomes agent’s gradient value
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34Gradient
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35Advanced Behaviors
By combining gradient, orbiting, and/or light detection more advanced behaviors can be achieved such as:
Fixed-point consensus: Kilobots converge to a fixed-point
Edge following: Kilobots orbit multiple stationary agents
Follow-the-leader
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36Fixed-Point Consensus
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37Edge-Following
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38Follow-the-Leader
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39
III. QBot 2 – Ryan & Greg
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40
QBot 2 - Ryan
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41Non-linear Model
Non-linear Model
𝑥 = 𝑣𝑐𝑜𝑠 𝜃
𝑦 = 𝑣𝑠𝑖𝑛 𝜃
𝜃 = 𝜔
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42Linear Model
Linear Model
𝑝𝑥 = 𝑢𝑥
𝑝𝑦 = 𝑢𝑦
𝑝𝑥 = 𝑥 + 𝑙 ∗ 𝑐𝑜𝑠𝜃
𝑝𝑦 = 𝑦 + 𝑙 ∗ 𝑠𝑖𝑛𝜃
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43Simulink Model
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44Simulink Model
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45Localization
Color Detection
Depth Calculation
Communication
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46Localization – Color Detection
638
639
640
1
2
col
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47Localization – Depth Calculation
638
639
640
1
2
col
d
α
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48Localization – Depth Calculation
α = 320 − 𝑐𝑜𝑙𝑢𝑚𝑛 ∗ 57 640 ∗ π/180
α is obtained angle
𝑐𝑜𝑙𝑢𝑚𝑛 is the array column number
𝑃𝑥 = 𝑑
𝑃𝑦 = 𝑑 ∗ 𝑡𝑎𝑛(𝛼)
𝑑 is depth
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49Localization – Communication
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50Point Consensus Control Algorithm
𝑢𝑖𝑥 𝑡 = 𝑘𝑖
𝑗=1
𝑛
𝑠𝑖𝑗 𝑡 𝑝𝑗𝑥 𝑡 − 𝑝𝑖𝑥 𝑡
𝑢𝑖𝑦 𝑡 = 𝑘𝑖
𝑗=1
𝑛
𝑠𝑖𝑗 𝑡 𝑝𝑗𝑦 𝑡 − 𝑝𝑖𝑦 𝑡
Communication Topology
𝑠𝑖𝑗 𝑡 =1 1 00 1 11 0 1
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51Point Consensus
Communication Topology 𝑠𝑖𝑗 𝑡 =1 1 00 1 11 0 1
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52Point Consensus
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53Point Consensus
X Position (m)
0 0.5 1 1.5 2 2.5
Y P
osi
tio
n (
m)
-1.5
-1
-0.5
0
0.5
1
Point Consensus
QBot 49
QBot 50
QBot 51
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54Heading Alignment
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55
QBot 2 - Greg
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56Object Avoidance
Used Fuzzy Logic
Inputs taken from Xbox 360 Kinect
Outputs are left and right motor velocities
0 Left Center Right200 480 680
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57Object Avoidance
1
0.5
0500 1000 1500 2000 2500 3000 3500 4000
Not Clear Clear
Membership Function Plots
Input Variable Right
mm
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58Object Avoidance
1
0500 1000 1500 2000 2500 3000 3500 4000
Close FarMiddle
0.5
Membership Function Plots
Input Variable Center
mm
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59Object Avoidance
1
00 0.1 0.2 0.3 0.4 0.5 0.6
Stop FastMedium
0.5
Membership Function Plots
Output Variable Vr
Slow
m/s
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60Object Avoidance
1
0-0.4 -0.2 -0.1 0.1 0.3 0.5 0.6
FastMedium
0.5
Membership Function Plots
Output Variable Vl
Stop
0.40.20-0.3
Slow-Slow
m/s
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61Fuzzy Rule Set
Input Output
Left Center Right VR VL
- Far - Medium Medium
- Middle - Slow Slow
Not Clear Close Not Clear Slow -Slow
Clear Close Not Clear Slow Stop
Not Clear Close Clear Stop Slow
Clear Close Clear Slow Stop
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62Object Avoidance
𝑉𝐿 = 𝑘 𝑥𝑑 − 𝑥 + 𝑥𝑑 + ∆𝑉𝐿 𝑉𝑅 = 𝑘 𝑦𝑑 − 𝑦 + 𝑦𝑑 + ∆𝑉𝑅
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63Object Avoidance
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64Object Avoidance
X Position (m)
0 0.5 1 1.5 2
Y P
osi
tio
n (
m)
-1
-0.5
0
0.5
1
Object Avoidance
QBot 49
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65Formation Control
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66Formation Control
𝑢𝑖𝑥 𝑡 = 𝑘𝑖
𝑗=1
𝑛
𝑠𝑖𝑗 𝑡 𝑝𝑗𝑥 𝑡 − 𝐶𝑗𝑥 − 𝑝𝑖𝑥 𝑡 + 𝐶𝑖𝑥
𝑢𝑖𝑦 𝑡 = 𝑘𝑖
𝑗=1
𝑛
𝑠𝑖𝑗 𝑡 𝑝𝑗𝑦 𝑡 − 𝐶𝑗𝑦 − 𝑝𝑖𝑦 𝑡 + 𝐶𝑖𝑦
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67Formation Control
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68Formation Control
X Position (m)
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Y P
osi
tio
n (
m)
-2.5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Formation Control
QBot 49
QBot 50
QBot 51
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69
IV. Summary & Conclusions
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70Problems Encountered
E-puck
CMOS camera
For communication between different platforms, additional circuity was needed
Kilobot
Kilobot motors need frequent calibration
Small size makes it difficult for QBot 2 to detect
Lack of sensory information
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71Summary & Conclusions
Designed cooperative control algorithms for heterogeneous groups of robots
Implemented algorithms on different robot platforms
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72Future Work
Cross-platform communication
Implement E-puck camera
Further development of formation algorithms
Complete E-puck to Kilobot communication
Add IR messaging system to QBot 2
Improve QBot 2 algorithm to avoid objects consistently
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73Acknowledgements
Our group would like to thank Dr. Wang & Dr. Ahn for their support throughout the project.
Our group would also like to thank Mr. Mattus and Mr. Schmidt for their technical support.
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Gregory Bock, Brittany Dhall, Ryan Hendrickson, & Jared Lamkin
Project Advisors: Dr. Jing Wang & Dr. In Soo Ahn
Department of Electrical and Computer Engineering
April 26th, 2016
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75Division of Labor Overview
Individual BehaviorKilobots JaredQBot 2s Ryan/GregE-pucks Brittany/Jared
Individual CommunicationKilobot - Kilobot Jared
QBot - QBot Ryan/Greg
E-puck - E-puck Brittany/Jared
Integrated Communication
Kilobot - E-puck Jared/Brittany
Kilobot - QBot Jared/Ryan/GregE-puck - QBot Brittany/Ryan/Greg
Algorithm Design Linearization Based Model Jared/Brittany/Ryan/Greg
Integrated BehaviorFormation Control Behavior Jared/Brittany/Ryan/Greg
Flocking Behavior Jared/Brittany/Ryan/Greg
TestingSoftware Implementation Jared/Brittany/Ryan/Greg
Hardware Implementation Jared/Brittany/Ryan/Greg
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76Algorithm Test Platforms
Kilobot QBot 2E-Puck
http://www.k-team.com/mobile-robotics-products/kilobothttps://en.wikipedia.org/wiki/E-puck_mobile_robot
http://www.mathworks.com/products/connections/product_detail/product_101072.html
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77Unbricking the E-pucks
Uses the MPLAB ICD 3 In-circuit Debugger
MPLAB IDE v8.30
Erases the Flash memory by powering the E-puck through the ICD 3
http://microchip.wikidot.com/icd3:start
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78Changing the Original Timer
E-puck’s clock speed is 8 times faster than the Kilobot
Increased the timer of the E-puck by a factor of 8 to slow down the rate at which the message was sent to Kilobot
Change was made to allow Kilobots to sync with E-puck messaging
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79Object Avoidance
Inputs taken from Xbox 360 Kinect
0 Left Center Right200 480 680
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80Oscilloscope Screen Captures from the Infrared Receiver Circuit
Original timer used in initial Kilobot testing
Increased original timer by a factor of 8
Decreased original timer by a factor of 8
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81Advanced Localization: Distributed Trilateration
Gradient is only a 1D localization
Minimum of 3 fixed agents as reference points
Non-localized agents assume position (0,0)
Determine actual distance to non-localized agent
Calculate assumed distance
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82Advanced Localization: Distributed Trilateration
Direction Vectors are generated from reference to unknown
Generate assumed coordinates from Vectors and measured Distances
New position is determined using assumed position and previous position
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83Integrated Communication Set-up
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84Project Platform Costs
Platform Quantity Total Price
QBot 2 3 $9,999.00
Kilobot Kit 20 $4,583.00
Epucks 3 $5,093.00
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85Programming Software Costs
Software QuantityTotal
Price
Kilobot Controller IDE 1 $0.00
E-puck Programming
Software1 $0.00
MATLAB Courseware 1 $0.00
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86E-puck Object Following Code
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87QBot Point Convergence Code
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88QBot Obtained Angle Equation
α = 320 − 𝑐𝑜𝑙𝑢𝑚𝑛 ∗ 57 640 ∗ π/180
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89HIL Write Block
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90Find Object Parameters
• Specify RGB values
• Value threshold
• Number of objects
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91Overall Simulink Model
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92Motor Control
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93Localization Equations
𝐶𝑖 = 𝑥0 − 𝑥𝑖2 + 𝑦0 − 𝑦𝑖
2
𝑉𝑖 =<𝑥0−𝑥𝑖
𝐶𝑖,𝑦0−𝑦𝑖
𝐶𝑖>
𝑛𝑖 = 𝑥𝑖 , 𝑦𝑖 − 𝐷𝑖 ∗ 𝑉𝑖
𝑥0, 𝑦0 = 𝑥0, 𝑦0 −(𝑥0−𝑛𝑖𝑥, 𝑦0−𝑛𝑖𝑦)
4
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94Color Consensus
Kilobots are initialized with a random number
Each number corresponds to a color
Kilobots then begin transmitting value
Kilobots receive messages and keep track of how many neighbors are what color
Kilobots then change their color to most prevalent color
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95Color and Object Detection
The E-puck CMOS camera is capable of 640X480 resolution, in color or grayscale
However, the image is too large to process, so instead we use a 1X120 image
Color uses RGB565, where each pixel has 5 bits for red, 6 bits for green, and 5 bits for blue
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96Color and Object Detection
First step to object detection is edge detectionThe image array is searched for two edges, from
both left and right starting positions Individual pixels are compared to the average of the
previous ten pixels If the difference is greater than three, that location
is set as an edgeBased on the number of edges found (0,1,2,3,4),
The E-puck calculates where the center of the object is, and how wide it is.
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97Color and Object Detection
After Edge detection is complete, the E-puck moves on to color comparison
The E-puck computes the average RGB value of the object
The average is compared to the specified value within a certain tolerance
If the comparison is acceptable, The E-puck begins maneuvering to it.
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98Odometry
𝜃 =𝑅−𝐿
2
𝑆 =𝑅+𝐿
2
𝑥 = 𝑆 ∗ 𝑐𝑜𝑠 𝜃 +𝜃
2
𝑦 = 𝑆 ∗ 𝑠𝑖𝑛 𝜃 +𝜃
2
𝑥 𝑘 + 1 = 𝑥 𝑘 + 𝑥
𝑦 𝑘 + 1 = 𝑦 𝑘 + 𝑦
𝜃 𝑘 + 1 = 𝜃 +𝜃
3