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

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26 Chapter 3. Mechanical Construction Figure 3.4: Pololu 25:1 Metal Gearmotor 20Dx44L mm. Key specs at 6 V: 500 RPM and 250 mA free-run, 20 oz-in (1.5 kg-cm) and 3.3 A stall. not only protecting the motor from the hit damage, but also cooling of the motor since aluminum has great energy-absorbing characteristics [12]. The connection can be seen clearly in Figure 3.5. The component is attached to the plexiglas from the L-shaped part using a single screw. This gives us the flexibility to dis-attach the component easily and to change the orientations of them if needed. Figure 3.5: The connection between the motors, chassis and wheels 3.3 Wheels The target environment of our robot is a standard home. The characteristic properties of this environment that are important for our work are as follows. Mainly the environment is formed by planes, surfaces such as parquet, tile, carpet etc... In order to move freely to any direction on these surfaces and reach the predefined speed constraint, we selected the wheels and a properconfiguration for them. The decision to choose omnidirectional wheel was motivated, but there are lots of different omnidirectional wheels available on the market. Among them, we made a selection considering the
3.3. Wheels 27 target surface, maximum payload, weights of the wheels, and price. The first selected wheel was the omniwheel shown in Figure 3.6(a). The wheel consists of three small rollers, which may affect the turning since the coverage is not good enough. Also the wheel itself is heavier than the one with the transwheel shown in Figure 3.6(b) A single transwheel is 0.5 oz lighter than an omniwheel. Another model is the double transwheel seen in Figure 3.6(c), which is produced by merging two transwheels, where the rollers are covering all the wheel, which will enable the movement in any direction easily and more consisting model by reducing the possible power transmission loss that can be occur, when merging the two wheels by hand. (a) Omniwheel (b) Transwheel (c) Double Transwheel Figure 3.6: Wheels In order reach the maximum speed of 1 m/sec., we should have the following equation. speed = circumreference∗rps speed = diameter ∗pi∗rps As it can be seen from the equation the speed is also related with the rotation per second (rps) of the wheels, which is determined by the motor. So the dimension choice of the wheels are made keeping the rps in mind. The rpm necessary to turn our wheels with the maximum speed of 1 meter/second the is calculated as follows: 1000mm/second = diameter ∗pi∗rps 1000mm/second = 49.2mm∗pi∗rps rps ∼ = 6.4
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 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: 3.2. Motors 25 Figure 3.3: The calc
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
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: 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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