1. Smart Pathfinding Robot

2. The Trouble Quad Ozan Mindek Team Leader, Image Processing Tyson Mowery Packaging Specialist Jungwoo Seo Webmaster, Networking Expert Rehan Shah Pathfinding Algorithm

3. Overview Maintains a dynamic environment map Dynamically calculates a feasible path to the next destination Recovers from out-of-path Provides user interface over embedded web server An intelligent automated car that visits a given set of waypoints on a provided map

4. Sample Mission RobotTarget 1Target 2Target 3Waypoint

5. Sample Mission RobotTarget 1Target 2Target 3Waypoint

6. Sample Mission RobotTarget 1Target 2Target 3Waypoint

7. Sample Mission RobotTarget 1Target 2Target 3Waypoint

8. Block Diagram RCM3300 CMU Cam with interface board Image data Left motor Right motor Motor control Infrared distance sensor Distance data 802.11b interface Communication with WWW client

9. Packaging In-place turning Two powered wheels Round design Small and mobile Small two-tiered base Component Accessibility Processor and bridge on top

10. Does size matter? Wheel and base size Smallest turning angle And therefore, accuracy Motors: 400 steps/rev Wheels: r = 1.25” Robot: R = 3.5” Maximum Accurate Distance = 827 cm Should suffice

11. Microprocessor RCM 3300 RabbitCore Programmability: Dynamic C Easy to use Built-in Ethernet capability User interface by embedded web server Powerful processing speed: 44.2MHz Better efficiency in terms of time

12. Camera CMU Camera Proven reliability in the past At waypoints Facing angle High resolution, 80*142 Color pattern At least 20 different colors (20*19*18)/6=1140 waypoints More discussion in later part

13. Motor Stepper Motor Precision is crucial Real time location between waypoints Distance traveled Direction in angle Speed has low priority

14. Schematic

15. Image Processing Algorithm Special tiles at waypoints Detecting position Detecting orientation Compare colors to entries in waypoint table

16. Image Processing Algorithm

17. Path Finding Algorithm Area will be mapped out on a tiled grid We use a coordinate system to keep track of the position of the car (x,y) coordinates will be update according to the revolution of the tires Car initially computes a feasible short path to the destination

18. Path Finding Algorithm It computes the angle and distance to the next waypoint along the path It then follows the waypoints on the map At each waypoint, coordinates and orientation are updated using data from the image processing algorithm. If an obstacle is encountered, the current path is discarded and new path is dynamically generated

19. Path Finding Algorithm

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23. Path Finding Algorithm