Team Commando
From GcatWiki
Contents
Our general navigation algorithm is as follows:
- Find checkpoint
- Move along the wall a preset distance
- Now the robot is at a door. Face the door.
- Drive at maximum speed to clear threshold. Once threshold is clear, resume normal speed
- If door is open, then enter room, wait until image processing is done, turn around and leave
- Find the next checkpoint... etc.
Checkpoints can be a virtual wall, or the real wall immediately next to the room the robot has just left. The first checkpoint is just the robot's starting point.
Image Processing
- Camera
- Logitech Orbit (on a stick)
- Software
- Matlab create toolbox
- Roborealm
- Method
- attach laptop to iRobot
- receive signal from robot when it has arrived in room via command module serial ports => matlab
- webcam pans and roborealm scans for magenta
- matlab checks to see if roborealm has found magenta at every degree of the pan
- if found, places a one in the vector entry corresponding to that room
- matlab checks to see if roborealm has found magenta at every degree of the pan
- Current dataset
- 26 closed windows
- 26 open windows
- https://www.dropbox.com/sh/hx5rwp9ilakwg5c/8Yf4twUjV1
- RoboRealm
- Color to detect: magenta?
- attach color to bottom of window so can only be detected when open
- What We Have So Far:
- RoboRealm module string to find magenta blobs and control Orbit
- MatLab script that opens RoboRealm and controls camera/gets magenta detection info
- sticker mockup
To-Do:
- Get magenta tape
- test Orbit in different light conditions
- look into more filter options
- sunglasses seemed like an option
- Rob McSwain has been emailed about video filters
- Figure out exact frequency of magenta and how that corresponds to hue/intensity in RoboRealm so that extraneous magenta objects are not picked up
- Add something to MatLab script to interpret the vector once the Roomba has been everywhere
- Test/figure out the serial port pings to MatLab
- roborealm over rtacks while panning; needs a second to get oriented
- change matlab script to only check for blobs once camera has paused for a second.
- The Most Current To-DO:
- We'll also fine-tune the script so the center of gravity doesn't appear when it isn't supposed to
- Communication between command module and matlab
- serial port
- microphone
- Jonah is going to add pause-checks to the MatLab script so it doesn't mis-classify
- A beautiful sticker will be designed with the specs we currently have
- And the world shall rejoice in itself and its conservation of energy
What "Works"
- Command module script:
https://www.dropbox.com/s/t0693qp3gpuazh6/Command%20Module%20Script.c
Detecting Windows
- Matlab script:
- RoboRealm filters:
- for at night with lights on
- for at night with lights off and flashlight
- initialize serial port connection:
- read input:
- motion detection script
Contacting our iRobot create
- send your fan mail to davidsonirobot@gmail.com