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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:/
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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
- Page 101 and 102: Appendix B Documentation of the pro
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- 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
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- Page 119 and 120: B.1. Microprocessor Code 103 } void
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- Page 123 and 124: B.1. Microprocessor Code 107 /* Sta
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- Page 127 and 128: B.1. Microprocessor Code 111 #inclu
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- Page 137 and 138: B.2. Color Histogram Calculator 121
- Page 139 and 140: B.3. Object’s Position Calculator
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- Page 143 and 144: B.4. Motion Simulator 127 0 0 0 0 0
- Page 145 and 146: B.4. Motion Simulator 129 if (plot
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- Page 151: Appendix C User Manual This documen
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- Page 159 and 160: Appendix D Datasheet The pin mappin
- Page 161 and 162: Figure D.2: The schematics for the