Sunday, October 19, 2008
I will be building a line following robot for a competition and I'll use a CMUcam to do vision processing.
Heres some basic pseudo code for line following with vision:
Locate Middle Mass of Line
Turn scan servo till CMUcam is aligned with middle mass
Have chassis align with CMUcam "head"
Go Forward if Middle mass is aligned with CMUcam
The line following robot with vision uses a CMUcam , four 150:1 Micro Metal Gearmotor HP motors , Axon microcontroller, 6V NiMH battery pack, and one panning servo for the camera. Chassis is HDPE (spray painted blue) and is two decker - deck supported by four hex spacers.
I haven't decided yet if I am going to make a step-by-step tutorial or just documentation. Also I'll be making a tutorial on interfacing the CMUcam to the Axon.
More updates to follow.
I was recently contacted by a team of computer science seniors to help them out with their senior project. They wanted ideas and some guidance with their project. I suggested to make a bipedal robot and they decided to make a BRAT biped robot solve a maze. I agreed to help as long as they sent me a copy of their code and final report when they were done. This is great for the Giant Biped project because now I don't have to spend so much time playing around with the algorithms and have time to spend on other projects. And since we have the same setup ( same robot, same sensors, same microcontroller) their code will work right away on my robot. Once I get the small scale working perfectly I can use the data gathered from that and just scale up.