Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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130 Appendix B. Documentation of the programming if (v L ˜= 0) line ([0 v2] ,[0 0] , ’Color ’ ,[1 0 0]); if (v L < 0) fill ([v2 v2+0.12∗p1 v2+0.12∗p1] ,[0 p1∗0.05 −p1∗0.05] , ’r ’) else fill ([v2 v2−0.12∗p1 v2−0.12∗p1] ,[0 p1∗0.05 −p1∗0.05] , ’r ’) end text(v2,0.1∗v2, ’v L ’ ); end if (omega ˜= 0) if (omega > 0) theta = linspace(−pi/3,pi/2 ,100); fill ([−0.12∗p1 0 0] ,[ R robot/6 R robot/6+p1∗0.05 R robot/6−p1 ∗0.05] , ’b’ ); text(−0.14∗p1, R robot/6+p1∗0.05 , ’\omega ’) else theta = linspace(pi/2,4∗pi/3 ,100); fill ([0.12∗p1 0 0] ,[ R robot/6 R robot/6+p1∗0.05 R robot/6−p1∗ 0.05] , ’b’ ); text(0.12∗p1,R robot/6+p1∗0.05 , ’\omega ’ ); end rho = ones(1 ,100)∗ R robot/6; [xr , yr] = pol2cart(theta , rho ); line(xr , yr ); end % ruota 1 if (vt(1) ˜= 0) line ([ R robot∗cosA , R robot∗cosA+vt(1)∗s1∗sinA ] ,[ R robot∗sinA , R robo ∗sinA−vt(1)∗s1∗cosA] , ’Color ’ ,[0 1 0]); offset1 = [ R robot∗cosA+vt(1)∗s1∗sinA; R robot∗sinA−vt(1)∗s1∗cosA ]; if (vt(1)∗s1∗sinA < 0) M = m rot(alpha ); else M = m rot(−pi + alpha ); end m arr1 = M∗m arr + [ offset1 offset1 offset1 ]; v txt1 = M∗v txt + offset1 ;
B.4. Motion Simulator 131 fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ ); text(v txt1 (1) , v txt1 (2) , ’v {t1} ’ ); end if (vn(1) ˜= 0) line ([ R robot∗cosA , R robot∗cosA+vn(1)∗s1∗cosA ] ,[ R robot∗sinA , R robo sinA+vn(1)∗s1∗sinA] , ’Color ’ ,[0 1 0]) offset1 = [ R robot∗cosA+vn(1)∗s1∗cosA; R robot∗sinA+vn(1)∗s1∗sinA ]; if (vn(1)∗s1∗cosA < 0) M = m rot(pi/2+alpha ); else M = m rot(−pi/2 + alpha ); end m arr1 = M∗m arr + [ offset1 offset1 offset1 ]; v txt1 = M∗v txt + offset1 ; fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ ); text(v txt1 (1) , v txt1 (2) , ’v {n1} ’ ); end % ruota 2 if (vt(2) ˜= 0) line([−R robot∗cosA , −R robot∗cosA+vt(2)∗s1∗sinA ] ,[ R robot∗sinA , R ro ∗sinA+vt(2)∗s1∗cosA] , ’Color ’ ,[0 1 0]); offset1 = [−R robot∗cosA+vt(2)∗s1∗sinA; R robot∗sinA+vt(2)∗ s1∗cosA ]; if (vt(2)∗s1∗sinA < 0) M = m rot(−pi−alpha ); else M = m rot(−alpha ); end m arr1 = M∗m arr + [ offset1 offset1 offset1 ]; v txt1 = M∗v txt + offset1 ; fill (m arr1(1 ,:) , m arr1 (2 ,:) , ’g ’ ); text(v txt1 (1) , v txt1 (2) , ’v {t2} ’ ); end if (vn(2) ˜= 0) line([−R robot∗cosA , −R robot∗cosA−vn(2)∗s1∗cosA ] ,[ R robot∗sinA , R ro ∗sinA+vn(2)∗s1∗sinA] , ’Color ’ ,[0 1 0])
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POLITECNICO DI MILANO Corso di Laur
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To my family...
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Summary Aim of this project is the
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Contents Sommario I Summary III Tha
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List of Figures 2.1 The standard wh
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Chapter 1 Introduction 1.1 Goals Th
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1.4. Thesis Structure 3 tailed desc
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Chapter 2 State of the Art Advances
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2.1. Locomotion 7 provides low resi
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2.1. Locomotion 9 Figure 2.4: Diffe
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2.1. Locomotion 11 Omnidirectional
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2.2. Motion Models 13 2.2 Motion Mo
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2.4. Games and Interaction 15 a 2.5
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2.4. Games and Interaction 17 We in
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2.4. Games and Interaction 19 lot o
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Chapter 3 Mechanical Construction W
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3.2. Motors 23 The initial design o
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3.2. Motors 25 Figure 3.3: The calc
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3.3. Wheels 27 target surface, maxi
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3.5. Bumpers 29 Figure 3.8: Three w
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3.6. Batteries 31 itself also works
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3.7. Hardware Architecture 33 In sh
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3.7. Hardware Architecture 35 The s
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3.7. Hardware Architecture 37 With
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Chapter 4 Control The motion mechan
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4.1. Wheel configuration 41 Figure
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4.2. Matlab Script 43 This is case
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4.2. Matlab Script 45 Mixed Angular
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4.3. PWM Control 47 acollision, suc
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4.3. PWM Control 49 mentioned previ
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Chapter 5 Vision The vision system
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5.1. Camera Calibration 53 the prin
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5.1. Camera Calibration 55 Figure 5
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5.1. Camera Calibration 57 Later, i
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5.2. Color Definition 59 warmer (ye
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5.2. Color Definition 61 Anotheraut
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5.2. Color Definition 63 9000 8000
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5.3. Tracking 65 any color values.
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Chapter 6 Game The robot will be us
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• Initialize sensors • Initiali
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If the camera is set to SERVO MID,
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Chapter 7 Conclusions and Future Wo
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ior, which will be useful in the re
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Bibliography [1] Battle bots-http:/
Page 95 and 96: BIBLIOGRAPHY 79 [25] Han et al. A n
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
Page 101 and 102: Appendix B Documentation of the pro
Page 103 and 104: B.1. Microprocessor Code 87 /* Conf
Page 105 and 106: B.1. Microprocessor Code 89 #ifdef
Page 107 and 108: B.1. Microprocessor Code 91 Set_Spe
Page 109 and 110: B.1. Microprocessor Code 93 TIM_DeI
Page 111 and 112: B.1. Microprocessor Code 95 /* Expo
Page 113 and 114: B.1. Microprocessor Code 97 RGBCube
Page 115 and 116: B.1. Microprocessor Code 99 /* Incl
Page 117 and 118: B.1. Microprocessor Code 101 #endif
Page 119 and 120: B.1. Microprocessor Code 103 } void
Page 121 and 122: B.1. Microprocessor Code 105 GPIO_I
Page 123 and 124: B.1. Microprocessor Code 107 /* Sta
Page 125 and 126: B.1. Microprocessor Code 109 } Inve
Page 127 and 128: B.1. Microprocessor Code 111 #inclu
Page 129 and 130: B.1. Microprocessor Code 113 /* * M
Page 131 and 132: B.1. Microprocessor Code 115 b[1] =
Page 133 and 134: B.1. Microprocessor Code 117 } * (B
Page 135 and 136: B.1. Microprocessor Code 119 #defin
Page 137 and 138: B.2. Color Histogram Calculator 121
Page 139 and 140: B.3. Object’s Position Calculator
Page 141 and 142: B.3. Object’s Position Calculator
Page 143 and 144: B.4. Motion Simulator 127 0 0 0 0 0
Page 145: B.4. Motion Simulator 129 if (plot
Page 149 and 150: B.4. Motion Simulator 133 end text(
Page 151 and 152: Appendix C User Manual This documen
Page 153 and 154: C.1. Tool-chain Software 137 Figure
Page 155 and 156: C.2. Setting up the environment (Qt
Page 157 and 158: C.3. Main Software - Game software
Page 159 and 160: Appendix D Datasheet The pin mappin
Page 161 and 162: Figure D.2: The schematics for the
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