What Does it Do? Will wander around a selected area performing obstacle avoidance Periodically stop and pan around looking for motion If motion is above a certain threshold, take picture. Picture Name will contain time and date taken plus waypoint where taken. If it wanders too far outside of a user defined area, the vehicle will shut down.

Obstacle Avoidance Three Sonar Sensors Fuzzy Logic/Proportional Control Determine Which side obstacle is in relation to vehicle Find Corresponding Closest Distance Fuzzy Logic to assign “Proximity” Target ProximityAction CloseBackup and Turn Fairly CloseHard Turn/Low Speed At a DistanceTurn Proportional To Distance/Prop. Speed ClearFull Speed

Night Vision HD 720p Logitech C270 with IR filter Removed 36 LED Polaroid IR Array 2-Axis Gimbal 330 Degree Pan 60 Degree Tilt

Platform Air Cooled Water Resistant Enclosure with custom Baffling and 5V Fan 2 Battery Holder (Currently housing 2 7.2V 5000MaH NimH) 540 Can Brushed Motor All time 4 Wheel Drive with true independent suspension

Computing Power ODROID-U2 Open CV 2.x.x Ubuntu Linaro Code written in C++ 16 GB MicroSD Pololu 18 Channel Maestro Controller

Issues and Lessons Learned How to corrupt the boot partition of a micro SD loaded with Ubuntu How to do it multiple times… How not to back up an SD card and lock up the home partition on my laptop… OpenCV Trial by Fire Why Linux is awesome Dealing with ARM Processors Joy of working with a month old computer…