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

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6 Chapter 2. State of the Art The wheel has been by far the most popular motion mechanism in mobile robotics. It can achieve very good efficiency, with a relatively simple mechanical implementation and construction easiness. On the other hand, legs and tracks require complex mechanics, more power, and heavier hardware for the same payload. It is suitable to choose wheels for robot that is designed to work in home environment, where it has to move mainly on a plain surface. Thereare threemajor wheel classes. They differ widely in their kinematics, and therefore the choice of wheel type has a large effect on the overall kinematics of the mobile robot. The choice of wheel types for a mobile robot is strongly linked to the choice of wheel arrangement, or wheel geometry. First of all there is the standard wheel as shown in Figure 2.1(a). The standard wheel has a roll axis parallel to the plane of the floor and can change orientation by rotating about an axis normal to the ground through the contact point. The standard wheel has two DOF. The caster offset standard wheel, also know as the castor wheel shown in Figure 2.1(b), has a rotational link with a vertical steer axis skew to the roll axis. The key difference between the fixed wheel and the castor wheel is that the fixed wheel can accomplish a steering motion with no side effects, as the center of rotation passes through the contact patch with the ground, whereas the castor wheel rotates around an offset axis, causing a force to be imparted to the robot chassis during steering [30]. (a) Standard Wheel (b) Castor Wheel Figure 2.1: The standard wheel and castor wheel The second type of wheel is the omnidirectional wheel (Figure 2.2). The omnidirectional wheel has three DOF and functions as a normal wheel, but
2.1. Locomotion 7 provides low resistance along the direction perpendicular to the roller direction as well. The small rollers attached around the circumference of the wheel are passive and the wheel’s primary axis serves as the only actively powered joint. The key advantage of this design is that, although the wheel rotation is powered only along one principal axis, the wheel can kinematically move with very little friction along many possible trajectories, not just forward and backward. Figure 2.2: Omniwheels The third type of wheel is the ball or spherical wheel in Figure 2.3. It has also three DOF. The spherical wheel is a truly omnidirectional wheel, often designed so that it may be actively powered to spin along any direction. There have not been many attempts to build a mobile robot with ball wheels because of the difficulties in confining and powering a sphere. One mechanism for implementing this spherical design imitates the first computer mouse, providing actively powered rollers that rest against the top surface of the sphere and impart rotational force. Figure 2.3: Spherical Wheels The wheel type and wheel configuration are of tremendous importance,
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21: Chapter 2 State of the Art Advances
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
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 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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