raad 2006. june 15-17. budapest tech, john von neumann faculty of informatics pal commander mobile...

RAAD2006. June 15-17.Budapest Tech, John von Neumann Faculty of Informatics

PAL COMMANDERPAL COMMANDER

Mobile Robot Navigation Using Omnidirectional VisionMobile Robot Navigation Using Omnidirectional Vision

Mornailla László

Pekár Tamás

Solymosi Csaba

Vámossy Zoltán

PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

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GoalsGoals

Mobile robot Multiple navigation

types Homogeneous,

weakly-textured environment

Obstacle avoidance Line following Object following


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The ConstructionThe Construction


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RC controlling Opto coupler (CNY 744) 6 movement direction Parallel port Possible controlling commands:

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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Modell RC controlling I. Variable communication frequency Precision controlling Serial port

Direction #0 - #17: left #18 - #19: center #20 - #40: right

Speed #0 - #21: backwards #22: stop #23 - #40: forwards

PIC microcontroller (18F1320) 2 level interrupt


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Modell RC controlling II.

The circuitry of the extra electronics

Generated controlling impulses (PIC) 1. impulse: 15ms periodical time 2. impulse: setting the direction 3. impulse: setting the direction


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Mobile robots

RC Modell RC


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The PAL-optics 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


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Controlling Software

Input Preprocessing Decision maker Mapper Navigation


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Preprocessing RGB HSL Treshold

Edge detection Canny

Controlling SoftwarePreprocessing I.

(1) (2)

(3) (4)


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Controlling SoftwarePreprocessing II.

(1) (2) (3)

(4) (5)1, raw image2, HSL filtered3, (2) + binatization4, HSL + pixelate5, (4) + threshold


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One complex algorithm Line following Object following “Free fall” navigation

Controlling SoftwareDecision Maker

Parameters Distance Scanning degree Threshold minimum


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Controlling Software Mapper module


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Controlling SoftwareUser interface


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ResultsRC test video

Line following Nearly

homogeneous ground

White line Difficulties

White line, white wall

Reflection of the ground

Relatively fast


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ResultsModell RC testvideo


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Conclusion

Easily reproducible components

Low-cost Simple reconstruction

ImprovementsMapping module


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References

Omnidirectional Vision page: http://www.cis.upenn.edu/~kostas/omni.html

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.

Kónya László - Mikrovezérlők alkalmazástechnikája, ChipCAD Elektronikai Disztribúció Kft., 2000,2003

SharperCV by Peter Wentworthhttp://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.

[email protected]

Web site: http://palcom.bmfnik.hu


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Questions?

raad 2006. june 15-17. budapest tech, john von neumann faculty of informatics pal commander mobile...

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