PATH FINDER VISION BASED NAVIGATOR

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PATH FINDER VISION BASED NAVIGATOR

• Group VBN09
• Pravin Shinde
• Anudeep Jain
• Ashish Vanarse
• Jeetendra Mirchandani

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VISION BASED NAVIGATOR
Problem Statement
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VISION BASED NAVIGATOR

• Goal
• To Design and implement a robot, which will find
  the shortest path to destination.
• To reach destination in least possible time.

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VISION BASED NAVIGATOR

• Deliverables
• S/W to automatically detect path and control
  motion of robot on correct path.
• H/W (Robot), which will traverse along the path
  to destination.

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VISION BASED NAVIGATOR

• Challenges
• Constructing graph from the points
• Finding the shortest path based on data
  available.
• Controlling the robot motion with error
  correction.
• Balancing of robot
• To traverse on curved paths

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VISION BASED NAVIGATOR

• Approach to meet Challenges
• Dijkstras algorithm to find shortest path
• Weight is attached with every edge (path) based
  on its length
• Weight of node is calculated based on degree of
  turn needed
• Error correction after every indicator is
  reached(3cm), depending on the availability of
  data
• Using threads to do calculation while motor is
  stabilizing after each step
• Using a third ball wheel for balancing

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VISION BASED NAVIGATOR

• Circuit

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VISION BASED NAVIGATOR

• Specifications
• Hardware
• Two Stepper Motor, 1.8/Step, 12V.
• Two ULN2003 ICs.
• Radius of wheel 32mm
• Software Platform
• RT Linux

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VISION BASED NAVIGATOR

• Various Calculations
• Each Step will be of Length 1 mm
• To Calculate weight of node for turning 90 Degree
  (90/360) x 2 x pi x 32
• where 32mm is radius of wheel
• Weight of the edge
• Length of edge 1/2 (Weight of both end nodes)

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VISION BASED NAVIGATOR

• RT Linux Programming
• Compiled as loadable kernel modules
• Parallel Port Driver
• Motor driver
• Real-time fifo(/dev/rtfXX)

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VISION BASED NAVIGATOR

• Parallel Port Driver
• Init_module
• Cleanup_module
• Open,close,read,write
• Ioctl
• /dev/lp0

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VISION BASED NAVIGATOR

• Motor Driver
• Init_module,Cleanup_module
• /dev/rtf16
• Fifo_handler
• User space program

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VISION BASED NAVIGATOR

• Graph Calculation

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VISION BASED NAVIGATOR

• Path Calculation

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VISION BASED NAVIGATOR

• Graph Calculation open paths

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VISION BASED NAVIGATOR

• Path Calculation

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VISION BASED NAVIGATOR

• Advantages of using RT Linux
• Runs Linux as the lowest-priority task
• Gives real-time applications priority over Linux
  itself
• Hard real-time applications
• Smooth operation of motor

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VISION BASED NAVIGATOR

• References
• http//www.cse.iitb.ac.in/jeetu/it606/
• http//www.it.iitb.ac.in/it606/projects/VisionBas
  edNav.ppt
• http//www.it.iitb.ac.in/it606/projects/Stepper_I
  ntro.ppt
• www.doc.ic.ac.uk/ih/doc/stepper/control2/connect.
  html
• www.cs.uiowa.edu/jones/step/types.htm
• http//www.fsmlabs.com/articles/camera/rtlcam.html
  

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VISION BASED NAVIGATOR

• THANK YOU