The ProwlerBy: Travis Whitley

What Does it Do?• Will wander around a selected area performing obstacle avoidance• Periodically stop and pan around looking for motion• If motion is above a certain threshold, take picture.• Picture Name will contain time and date taken plus waypoint where

taken.• If it wanders too far outside of a user defined area, the vehicle will

shut down.

Obstacle Avoidance• Three Sonar Sensors• Fuzzy Logic/Proportional Control• Determine Which side obstacle is in relation to vehicle• Find Corresponding Closest Distance• Fuzzy Logic to assign “Proximity”

Target Proximity Action

Close Backup and Turn

Fairly Close Hard Turn/Low Speed

At a Distance Turn Proportional To Distance/Prop. Speed

Clear Full Speed

Night Vision• HD 720p Logitech C270 with IR filter Removed• 36 LED Polaroid IR Array• 2-Axis Gimbal• 330 Degree Pan• 60 Degree Tilt

Platform• Air Cooled Water Resistant Enclosure with custom Baffling and 5V Fan• 2 Battery Holder (Currently housing 2 7.2V 5000MaH NimH)• 540 Can Brushed Motor• All time 4 Wheel Drive with true independent suspension

Computing Power• ODROID-U2• Open CV 2.x.x• Ubuntu 12.11 Linaro• Code written in C++

• 16 GB MicroSD• Pololu 18 Channel

Maestro Controller

Issues and Lessons Learned• How to corrupt the boot partition of a micro SD loaded with Ubuntu• How to do it multiple times…• How not to back up an SD card and lock up the home partition on my

laptop…• OpenCV Trial by Fire• Why Linux is awesome• Dealing with ARM Processors• Joy of working with a month old computer…