1. Aaron Zukley IMDL Fall 2015

2.  Behaviors Search for Target Tower  Obstacle Avoidance  Front Ultrasonics and IRs running fuzzy logic Tower Targeting  Image Processing  Use Ball tracking Algorithm to align with tower  Use rotating motion and forward back to shoot tower Leaving the Tower  Receive X-bee signal  Move away from target tower

3.  Obstacle Avoidance 6 HC-SR04 Ultrasonics 3 Sharp IRs 2 Bump Switches  Tower Targeting Odroid USB Web Camera

4.  Looks for the Largest Contours  Places a minimum bounding circle  Checks radius to be of significant size  Captures the center position of circle  If the circle is large enough, rotate and shoot laser

5.  Arduino Uno  CDS cells  RGB LED Strips  LED MOSFET board  X-Bee  X-Bee Arduino shield

6.  Behaviors Obstacle Avoidance (Functional)  Front IRs and Ultrasonics use Fuzzy logic  Back Ultrasonics are readable but not used Tower Targeting (Functional, minor tweaks)  Working on improving the object detection Leaving the Tower (Functional, could be better defined)  Other Project related stuff Obstacle Course (Materials Gathered) Better Computer Control Added  Remote start, stop, reset

7.  Topics Linux OpenCV Python  Lessons It Happens If in doubt, buy it, try it, and learn from it Proper preparation prevents poor performance