Team Commando

Navigation

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. The robot follows the wall whenever it is measuring distance because the wall keeps the robot going straight ahead, which helps precision.

Image Processing

• Camera
  • Logitech Orbit (on a stick)

• Software
  • Matlab create toolbox
    • http://www.usna.edu/Users/weapsys/esposito/roomba.matlab/
  • Roborealm
    • useful demo: http://www.roborealm.com/tutorial/Fun_with_Roomba/slide070.php

• 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

• 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
    • Media:WindowSticker.jpg

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"

Navigation

• Command module script:

https://www.dropbox.com/s/t0693qp3gpuazh6/Command%20Module%20Script.c

Detecting Windows

• Matlab script:
  • Media:RoboRealmControl.m.txt
• RoboRealm filters:
  • for at night with lights on
  • for at night with lights off and flashlight

Communication Between Detection and Navigation

• initialize serial port connection:
  • Media:InitializeComMod.m.txt
• read input:
  • Media:ReadCommand.m.txt
• motion detection script

Contacting our iRobot create

• send your fan mail to davidsonirobot@gmail.com