1. Omni-Directional Vision System for Mobile Robots Critical Design Review Denise Fancher Kyle Hoelscher Michael Layton Eric Miller

2. Omni-directional Mirror Selection Original mirror from Neovision – $290 Light bulb from Lowe’s – two for $3 Budget decreases from $827 to $540 Limited horizon on hemispherical surface Will work for our purposes

3. Hardware Assembly BOE-Bot assembled and working CMUcam attached and testing is in progress Plans for mounting the light bulb

4. Software Skeleton Download object coordinates from camera to BOE bot Calculate radius Calculate appropriate movement signal Perform collision detection If collision eminent calculate new movement signals If collision eminent calculate new movement signals Issue servo commands

5. Object Tracking Comfort radius Adjustable Determines if bot should approach or back away from the object Movement Determination X-coord = turn left/right Magnitude of y-coord determines speed of rotation Tracked object location = (x,y) (72,40) (0,0) Radius, r (144,80)

6. Obstacle Avoidance Considered using vector fields for navigation Currently planning to use a simpler algorithm Uses data from sonar unit and left and right whiskers Obstacle Avoidance Algorithm CaseLeft Whisker Right Whisker SonarInterpretationAction 7111Blocked left, right, front Stop, back up 6110Blocked left, right Stop, back up 5101Blocked left, front Stop, turn right 90° 4100Blocked left only Turn right gradually 3011Blocked right, front Stop, turn left 90° 2010Blocked right only Turn left gradually 1001Blocked front only Stop, turn right/left 90° 0000ClearContinue in current direction

7. CMUcam Control Initialization Communication from stamp to camera: Stamp sends SEROUT followed by camera command Stamp sends SEROUT followed by camera command Stamp sends SERIN to receive data from camera Stamp sends SERIN to receive data from camera Camera sends data values followed by ACK or NCK Camera sends data values followed by ACK or NCK

8. Basic CMUcam Commands L1 – controls green LED on camera board PM – controls poll mode (multiple or single data packets returned) TC – tracks a color specified by the RGB arguments TW – track window obtains a new color to track from the center of the window RS – resets camera board

9. Updated Gantt Chart