RAAD2006. June 15-17.Budapest Tech, John von Neumann Faculty of Informatics
PAL COMMANDERPAL COMMANDER
Mobile Robot Navigation Using Omnidirectional VisionMobile Robot Navigation Using Omnidirectional Vision
Mornailla László
Pekár Tamás
Solymosi Csaba
Vámossy Zoltán
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
22006. June, RAAD
GoalsGoals
Mobile robot Multiple navigation
types Homogeneous,
weakly-textured environment
Obstacle avoidance Line following Object following
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
32006. June, RAAD
The ConstructionThe Construction
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
42006. June, RAAD
RC controlling Opto coupler (CNY 744) 6 movement direction Parallel port Possible controlling commands:
0: stop 1: forward 2: backward 4: wheels right 6: right backward 7: right forward 8: wheels left 9: left forward 10: left backward
No precision controlling
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
52006. June, RAAD
Modell RC controlling I. Variable communication frequency Precision controlling Serial port
Direction #0 - #17: left #18 - #19: center #20 - #40: right
Speed #0 - #21: backwards #22: stop #23 - #40: forwards
PIC microcontroller (18F1320) 2 level interrupt
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
62006. June, RAAD
Modell RC controlling II.
The circuitry of the extra electronics
Generated controlling impulses (PIC) 1. impulse: 15ms periodical time 2. impulse: setting the direction 3. impulse: setting the direction
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
72006. June, RAAD
Mobile robots
RC Modell RC
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
82006. June, RAAD
The PAL-optics Advantages
No need of moving components No need of focusing Direction, and angle of surrounding object
can be directly computed Projects the 360º degrees of the environment
to 2D Circular image Can be described by a polar coordinate-
system Blind spot Properties:
PAL center Inner radius (r1) Outer radius (r2) Angle of field of view
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
92006. June, RAAD
Controlling Software
Input Preprocessing Decision maker Mapper Navigation
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
102006. June, RAAD
Preprocessing RGB HSL Treshold
Edge detection Canny
Controlling SoftwarePreprocessing I.
(1) (2)
(3) (4)
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
112006. June, RAAD
Controlling SoftwarePreprocessing II.
(1) (2) (3)
(4) (5)1, raw image2, HSL filtered3, (2) + binatization4, HSL + pixelate5, (4) + threshold
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
122006. June, RAAD
One complex algorithm Line following Object following “Free fall” navigation
Controlling SoftwareDecision Maker
Parameters Distance Scanning degree Threshold minimum
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
132006. June, RAAD
Controlling Software Mapper module
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
142006. June, RAAD
Controlling SoftwareUser interface
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
152006. June, RAAD
ResultsRC test video
Line following Nearly
homogeneous ground
White line Difficulties
White line, white wall
Reflection of the ground
Relatively fast
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
162006. June, RAAD
ResultsModell RC testvideo
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
172006. June, RAAD
Conclusion
Easily reproducible components
Low-cost Simple reconstruction
ImprovementsMapping module
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
182006. June, RAAD
References
Omnidirectional Vision page: http://www.cis.upenn.edu/~kostas/omni.html
Veress, M. and Greguss, P. (1998), Centric Minded Imaging in Space Research, In: Proc. of 7th International Workshop on RAAD'98, (K. Dobrovodsky (Ed.)), pp. 121 - 126. Bratislava, Slovakia.
Kónya László - Mikrovezérlők alkalmazástechnikája, ChipCAD Elektronikai Disztribúció Kft., 2000,2003
SharperCV by Peter Wentworthhttp://www.cs.ru.ac.za/research/groups/SharperCV
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
192006. June, RAAD
Thank you for your attention!
We would be glad to hear about any interest in the project.
Web site: http://palcom.bmfnik.hu
PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy
202006. June, RAAD
Questions?