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Vision Guided Navigation Andrey Kozitsky Seth Kramer
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Overview Introduction to the VGN User Interface Image Recognition System Software Architecture Vehicle Communication Vehicle Control Testing Strategy Difficulties
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What is the VGN? The VGN will navigate a vehicle to a destination using only vision as a form of feedback. Birds-eye view of a small area will be processed to practice obstacle avoidance. The VGN will be successful when all destination points have been visited in a user-defined order without any collisions.
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Components of the VGN Field Graphical User Interface Web Camera Image Recognition System Pathfinding and Control Vehicle Communication and Control
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Field 5’ x 5’ Field Black Background Yellow Boundaries White Obstacles Red/Blue Vehicle
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Graphical User Interface
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Web Camera Video Input TypeDigital Video Camera Software Type Creative Webcam Live! Ultra Digital video capture speed30 frames per second Digital video capture resolution640 x 480 Picture Capture Quality1.3 MegaPixels OS Required Windows XP, Windows 2000 Video Input Color SupportColor Video Input: Interface TypeUSB 2.0, 1.1 Focus AdjustmentManual Lens Angle76 Degrees
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Image Recognition System Web Camera snaps a picture every second IRS is a standalone library that offers the following: –Matrix representation of field with values of: 0-Field 1-Obstacle 2-Red 3-Blue –Vehicle Direction -180° to 180° –Field, Vehicle, and Path checking
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Image Recognition System HSL Color Space Hue-Saturation- Luminance Boundaries have high Saturation Obstacles have high luminance Navigable Field has low luminance
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Image Recognition System YCbCr Color Space Y is luma component Cb is blue chroma component Cr is red chroma component Red part of tank has high Cr Blue part of tank has high Cb
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Image Recognition System
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Y axis 000111000000000 100110000000000 200100000000000 300000000000000 400000000000000 500000000000000 600000000000000 700000000000000 800033333222000 900033333222000 1000033333222000 1100033333222000 1200033333222000 1300000000000000 1400000000000000 1500000000000000 1600000000000000 X axis 0123456789 10101 1212 1313
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Image Recognition System Y axis 000111000000000 100110000000000 200100000000000 300000000000000 400000000000000 500000000000000 600000000000000 700000000000000 8000 33333 222000 9000 33333 222000 10000 33333 222000 11000 33333 222000 12000 33333 222000 1300000000000000 1400000000000000 1500000000000000 1600000000000000 X axis 0123456789 10101 1212 1313
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Software Architecture The system is organized into four packages –PathFinder (Controller) –Image Recognition System –Vehicle –View (Graphical User Interface) Pathfinder interfaces with the other packages
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PathFinder
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Vehicle Communication Using SCI Communications and.NET Framework 2.0 –System.IO.Ports.SerialPort 8 Bit OpCodes, 3 Bit instruction and 5 Bit parameter sent to HCS12, returned on completion of instruction. If instruction not returned within 5-10 seconds, controller will send ACK and then prompt user Instruction NameOpCodeParameter RangeComments ACK0001111110Acknowledge for Communcations FORWARD001XXXXX0—31Send Vehicle Forward BACKWARD011XXXXX0—31Send Vehicle Backward TURN_LEFT1000XXXX0—12Vehicle rotates counterclockwise TURN_RIGHT1010XXXX0—12Vehicle rotates clockwise RESUME1100000000Continue after a STOP STOP1110000000Wait for RESUME to be given
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Vehicle Control Moving when 0Vdc applied to contact switch Stopped when 5Vdc applied to contact switch
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Testing Strategy VGN is a success if it exhibits the following: –Navigate a field of obstacles and reach the appropriate destinations in the order specified –Reach each successive destination in a timely manner –User is notified if the proposed destination is unreachable –Vehicle motion stops and resumes from the GUI –User can easily pick desired locations and view the field
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Difficulties IRS is heavily dependent on current lighting levels; this may require a lookup table and restrictions on lighting conditions PathFinder may require extensive implementation and testing time for the determining possible paths in worst-case scenarios Vehicle’s drive system is made of plastic, this may result in purchasing of multiple vehicles
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