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RAAD 200 6 . J une 15-17. Budapest Tech, John von Neumann Faculty of Informatics

PAL COMMANDER. Mobile Robot Navigation Using Omnidirectional Vision. RAAD 200 6 . J une 15-17. Budapest Tech, John von Neumann Faculty of Informatics. Mornailla László Pekár Tamás Solymosi Csaba Vámossy Zoltán. Goals. Mobil e robot Multiple navigation types

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RAAD 200 6 . J une 15-17. Budapest Tech, John von Neumann Faculty of Informatics

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  1. PAL COMMANDER Mobile Robot Navigation Using Omnidirectional Vision RAAD 2006. June 15-17. Budapest Tech, John von Neumann Faculty of Informatics Mornailla László Pekár Tamás Solymosi Csaba Vámossy Zoltán

  2. Goals • Mobile robot • Multiple navigation types • Homogeneous, weakly-textured environment • Obstacle avoidance • Line following • Object following PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  3. The Construction PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

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

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

  6. Modell RC controlling II. • Generated controlling impulses (PIC) • 1. impulse: 15ms periodical time • 2. impulse: setting the direction • 3. impulse: setting the direction The circuitry of the extra electronics PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  7. Mobile robots RC Modell RC PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  8. 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 to2D • 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 PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  9. Controlling Software • Input • Preprocessing • Decision maker • Mapper • Navigation PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  10. Controlling SoftwarePreprocessing I. (1) (2) • Preprocessing • RGB • HSL • Treshold • Edge detection • Canny (3) (4) PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  11. Controlling SoftwarePreprocessing II. (1) (2) (3) 1, raw image 2, HSL filtered 3, (2) + binatization 4, HSL + pixelate 5, (4) + threshold (4) (5) PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  12. Controlling SoftwareDecision Maker • Parameters • Distance • Scanning degree • Threshold minimum • One complex algorithm • Line following • Object following • “Free fall” navigation PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  13. Controlling SoftwareMapper module PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  14. Controlling SoftwareUser interface PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  15. Results RC test video • Line following • Nearly homogeneous ground • White line • Difficulties • White line, white wall • Reflection of the ground • Relatively fast PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  16. Results Modell RC testvideo PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  17. Conclusion • Easily reproducible components • Low-cost • Simple reconstruction • Improvements • Mapping module PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

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

  19. Thank you for your attention! • We would be glad to hear about any interest in the project. • Contact • palcommander@googlegroups.com • Web site: • http://palcom.bmfnik.hu PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

  20. Questions? PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy

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