Scavenging with a Laptop Robot Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson AAAI Robotics Workshop 7/13/05.

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Presentation transcript:

Scavenging with a Laptop Robot Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson AAAI Robotics Workshop 7/13/05

Constraints Emphasis on vision Python/C++ in Windows basic ER1 ER1 reloaded

Basic Components ER1 $200 & thanks to Yau Lam Yiu for Evolution-independent code! Devantech $35 MPI 5V $10Pontech SV203 I/O $60 USB $25

Together Pan/tilt laser pointer Beach ball beater Single sonar unit Circuit board for sonars, servos, and laser

Sonar Capacitors… Single sonar circuit Scratch work for circuit

Laser Panning laser pointer Adjustable- exposure camera Extremely precise whiteboard model of laser triangulation NASA take note!

Vision Connected components, color, size, and shape recognition

Objects Ellipse Fitting: coordinate-free least squares Angle Diameters Pixel Count Centroid Roundness = Color

MCL and Waypoints A simple demo

State Machine

Not Quite Pan/Tilt servo motors for camera Visual Odometry Visual Environmental Map Oops!