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

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5 Vision 51 5.1 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . 51 5.2 Color Definition . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.3 Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 6 Game 67 7 Conclusions and Future Work 73 Bibliography 76 A Documentation of the project logic 81 B Documentation of the programming 85 B.1 Microprocessor Code . . . . . . . . . . . . . . . . . . . . . . . 85 B.2 Color Histogram Calculator . . . . . . . . . . . . . . . . . . . 120 B.3 Object’s Position Calculator . . . . . . . . . . . . . . . . . . . 122 B.4 Motion Simulator . . . . . . . . . . . . . . . . . . . . . . . . . 127 C User Manual 135 C.1 Tool-chain Software . . . . . . . . . . . . . . . . . . . . . . . 135 C.2 Setting up the environment (Qt SDK Opensource) . . . . . . 138 C.3 Main Software - Game software . . . . . . . . . . . . . . . . . 140 D Datasheet 143 VIII
List of Figures 2.1 The standard wheel and castor wheel . . . . . . . . . . . . . . 6 2.2 Omniwheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 Spherical Wheels . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.4 Differential drive configuration . . . . . . . . . . . . . . . . . 9 2.5 Tri-cycle drive, combined steering and driving . . . . . . . . . 9 2.6 MRV4 robot with synchro drive mechanism . . . . . . . . . . 10 2.7 Palm Pilot Robot with omniwheels . . . . . . . . . . . . . . . 11 2.8 Robots developed for games and interactions . . . . . . . . . 18 3.1 The design of robot using Google SketchUp . . . . . . . . . . 22 3.2 The optimal torque / speed curve . . . . . . . . . . . . . . . 24 3.3 The calculated curve for the Pololu . . . . . . . . . . . . . . . 25 3.4 Pololu 25:1 Metal Gearmotor 20Dx44L mm. . . . . . . . . . . 26 3.5 The connection between the motors, chassis and wheels . . . 26 3.6 Wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.7 The wheel holder . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.8 Three wheel configuration . . . . . . . . . . . . . . . . . . . . 29 3.9 The position of the camera . . . . . . . . . . . . . . . . . . . 30 3.10 The real camera position . . . . . . . . . . . . . . . . . . . . . 30 3.11 Bumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.12 The bumper design . . . . . . . . . . . . . . . . . . . . . . . . 32 3.13 Robot with foams, springs and bumpers . . . . . . . . . . . . 32 3.14 J.tronik Li-Po Battery . . . . . . . . . . . . . . . . . . . . . . 33 3.15 Structure of an H bridge (highlighted in red) . . . . . . . . . 35 3.16 The schematics of voltage divider and voltage regulator circuit 37 4.1 The wheel position and robot orientation . . . . . . . . . . . 41 4.2 A linear movement . . . . . . . . . . . . . . . . . . . . . . . . 43 4.3 The angular movement calculated by simulator . . . . . . . . 44 4.4 The mixed angular and linear movement calculated . . . . . . 45 IX
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13: Contents Sommario I Summary III Tha
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66:
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:/
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BIBLIOGRAPHY 79 [25] Han et al. A n
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Appendix A Documentation of the pro
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Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
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B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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