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

70 Chapter 6. Game
software or from the Matlab script taking samples from the environment in
order to calculate the histogram to find the correct color coding. The color
values found from the Matlab script should be tested with the ST color
picker software in order to check the correctness of the results.
After the initialization phase completed, the main control loop starts.
Beforeenteringthemaincontrolloop,theparameters, suchassearch direction,
game end, color done, blob found etc., that are going to be used locally inside
the main loop are set to initial values. The main loop starts by reading
the values of the sensor data. Later, the ’color done’ status, which is controlling
the target acquired condition. Initially, it is set as ’FALSE’, since
the camera did not acquire any images. Before capturing any image, the
’control hit’ is checked to detect and clear the hit. Until no collision is
detected, the capturing of the images will not start. After the capturing is
complete, the blobs found with the correct color, if any, are sorted according
to the their area, and the one with the maximum area is set as ’myBlob’.
If no blob found in this step, ’myBlob’ is set to -1 to indicate no blob is
found within constraints. The sign of the ’myBlob’ is controlled to check
whether a blob is found or not. If no blob is found, ’blob found’ or ’counter’
status is checked. This part is implemented so that to decrease the number
of turns, for each time a blob is not found. Having the ’counter’ less then
3, we increment the counter, and do not perform any turns. In the case
the ’counter’ is greater than 3 or ’blob found=FALSE’, we perform a turn
around the center, and set the ’blob found=FALSE’. That mechanism enabled
us to detect a target, that was not detected even if it is on side. Even
if the target is on side and it is not detected for 3 times, we perform the
turn. To process blob, in ’myBlob’ parameter, the first step is controlling
the camera position. Depending to the camera position, the position of the
target in real world is calculated. The motor contributions are calculated
using ’Triskar’ function. According to the calculated position of the target
the following cases is executed. If the camera is set to SERVO TOP and the
distance of the robot to the target is:
• Greater than 1200 mm.
The motor speeds from Triskar are set with multiplier FAST
• Between 1200 mm and 700 mm.
The motor speeds from Triskar are set with multiplier NORMAL
• Less than 700 mm.
The camera head position is changed to SERVO MID