1. Autonomous Tracking Robot Andy Duong Chris Gurley Nate Klein Wink Barnes Georgia Institute of Technology School of Electrical and Computer Engineering ECE4007, L04 March 12 th, 2009

2. 2 Project Overview Create an autonomous tank with the ability to locate, track, and fire a projectile at a target using infrared and ultrasonic sensors and a web camera 1/16 scale proof of feasibility for expansion to unmanned military and civilian search-and-rescue applications Save lives by removing humans from the front line of battle and hazardous terrain Estimated development cost of $3240 for the small scale model; full scale implementation costs over $1 million

3. 3 Design Objectives Detect the presence of and rotate to face a target within 5m using five infrared sensors Approach the target to within 2.75m ±.25m using a web camera with color tracking software and an ultrasonic sensor Re-locate the target if it moves out of range of the projectile or out of the webcam’s view angle of 36° off center Fire a projectile at the target with a 6° cone of accuracy once it is within 3m

4. 4 Vehicle Design

5. 5 Project Illustration: Target Acquisition

6. 6 Project Illustration: Rotation and Approach

7. 7 Hardware Overview

8. 8 Hardware Design

9. 9 Hardware: Sensors IR SensorIR Spot Sensor Movement Detection30cm Detection Distance (max)5m Horizontal Detection100°38° Vertical Detection82°22° Ultrasonic Sensor Detection Range0.1524m (6 inches) - 6.45m (254 inches)

10. 10 Hardware Pictures

11. 11 Operating on Windows CE Embedded OS Coded software in C++ Using Phidgets 8/8/8 Board to read sensor inputs and send digital output signals Utilizing “phidgets21” library for function calls –Analog methods return value between 0-1000 –IR Sensors steady state between 480-520 (~2.5V) –Sensor value >400 or <600 indicates target motion Software Components

12. 12 Software Algorithm Overview

13. 13 Color Tracking Algorithm Edit Logitech webcam driver for color tracking algorithm Compare pixels and create a 2D Array of Boolean values flagging the pixels that are within a threshold of a target color –Threshold: 20 ≥ |R T –R X | + |G T –G X | + |B T –B X | where R T, G T, and B T corresponds to target colors and R X, G X, and B X corresponds to pixel colors Search the neighbors of flagged values to generate groups of potential targets Average the indexes of the largest group and turn the tank based on the group’s average offset from the center pixel

14. 14 Problems and Limitations Tank –Movement vs. Turning Ultrasonic Sensor Accuracy Tracking the Target –Accumulation of Error in Turret Rotation –Vertical Alignment Not Viable –Color Tracking

15. 15 Demonstration and Acceptance Testing Actions: 1. Detecting and rotating to face the target 2. Approaching and tracking the target 3. Aligning turret and firing the projectile Testing StagesDescription One Independent testing of each action Two Testing of neighboring consecutive actions Three Testing of all actions consecutively

16. 16 Project Schedule Completed Tasks: –Mounted/Connected IR Sensors, Ultrasonic Sensors, Webcam –Built power circuit to run eBox by battery –Wrote template for software –Tested sensor functionality/accuracy –Processed sensor data in software

17. 17 Future Work Task NameEstimated Completion Time Color Tracking Software3/20 Software Debug4/2 Test Robot Functionality4/5 Final Presentation4/16 Final Demonstration4/30

18. 18 Budget and Cost Analysis ItemQtyTotal Cost RC German Tiger Tank1$79 AMN23111 IR Motion Sensor4$144 AMN21111 IR Spot Sensor1$12 HB-401 H-Bridge1$50 Item (Borrowed)QtyEst. Cost QuickcamPro 5000 Webcam1$50 Phidgets Ultrasonic Sensor1$30 Wiring/Mounts1$5 -Total Amount Spent: $285 -Total Estimated Parts Cost: $370 -Total Estimated Cost (1 Unit, Including Labor): $3240 -Total Proposed Selling Price (Based on Mass Production): $3600

19. 19 Current Status Completed: –Hardware integration and testing In progress: –Tank alignment algorithm –Color tracking algorithm Future: –Demonstration testing

20. 20 Questions ?