Scavenging with a Laptop Robot

Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson

AAAI Robotics Workshop 7/13/05

Constraints

• Emphasis on vision • Python/C++ in Windows

basic ER1

ER1 reloaded

Basic Components

ER1 RCM @ $200 & thanks to Yau Lam Yiu for Evolution-independent code!

Devantech SRF04 @ $35

MPI 5V servos @ $10Pontech SV203 I/O board @ $60

USB KritterCam @ $25

TogetherPan/tilt laser pointer

Beach ball beater

Single sonar unit

Circuit board for sonars, servos, and laser

Sonar

Capacitors…

Single sonar circuit

Scratch work for circuit

Laser

Panning laser pointer

Adjustable-exposure

camera

Extremely precise whiteboard model of laser triangulation

NASA take note!

Vision

Connected components, color, size, and shape recognition

Objects• Ellipse Fitting:

• coordinate-free least squares

• Angle

• Diameters

• Pixel Count

• Centroid

• Roundness =

• Color

2

4

Diameter

Area

MCL and Waypoints

A simple demo

State Machine

Not Quite• Pan/Tilt servo motors for camera

• Visual Odometry

• Visual Environmental Map

Oops!