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

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 ControlRecipe CommandsOverrides Heartbea t Distress ACK Start DONE 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 tiles12/1/2005 Basic mote messaging, maze solving algorithm12/8/2005 Website started12/13/2005 Image recognition of robot, basic robot movement, overrides and robot UI12/15/2005 Final maze construction, wireless protocol implementation, sensors working 1/5/2006 Image recognition of maze tiles and robot, robot-mote communication1/12/2006 Symbolic graph extraction of maze, full wireless communication1/19/2006 Base station GUI, begin integration1/26/2006 Integration and reliability testing2/2/2006 Poster, presentation, final report2/9/2006 Project write-up, website, and demonstration (Instructor)2/14/2006 Public demonstration2/16/2006 Team Assessments2/22/2006

Bill of Materials ComponentPriceQuantity Camera$ Maze & Fixture$ Mica2 Mote$ Mica Interface Board$ PIC18F4320 uController$8.171 UC3770 Motor Controller$5.564 Tires$5.992

Bill of Materials II ComponentPriceQuantity Stepper Motors$ V Rechargeable Battery$8.991 Battery Charger$ Acrylite FF Sheets$9.991 Ball Bearings$9.991 LEDs, Switches, Misc.$ QRB1113 Optoreflectors$1.508

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