1 / 7

Murphy Surveillance Robot: Advanced Obstacle Avoidance and Target Tracking System

Explore the design and capabilities of Murphy, a surveillance robot developed in Fall 2011 by Dr. Arroyo and Dr. Schwartz at IMDL. Equipped with sensors and actuators like Sonar and Pololu HP motors, Murphy excels in obstacle avoidance and target tracking, using a Foscam Wireless IP Camera and USB Missile Launcher. Experimental results showcase its efficient behavior in various scenarios, including image processing and real-time tracking. Discover key accomplishments and lessons learned in designing this cutting-edge robot platform.

helengray
Download Presentation

Murphy Surveillance Robot: Advanced Obstacle Avoidance and Target Tracking System

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. “Murphy”Surveillance Robot Phong Truong IMDL Fall 2011 Dr. Arroyo, Dr. Schwartz

  2. Overview • Surveillance Robot • Objectives: • Obstacle Avoidance • Target Tracking • Eliminate Target Final Robot Design

  3. Sensors and Actuators • Sensors • 2x Sonar: MaxSonar EZ1 • 4x Bump: 50 mm Switch • Actuators • 2x Pololu HP micro motor • 2x 70 mm Wheels • Power • 9.6V, 7.2V AA NiMH Battery Pack Sonar Sensors

  4. Special System • Target Tracking: Foscam Wireless IP Camera with Pan/Tilt • Color detection • Xbee communication • Projectile System: USB Missile Launcher Wireless IP Camera USB Missile Launcher

  5. Experimental Results • Obstacle Avoidance • speed = (K/(K+1))*oldvalue + (1/(K+1))*newvalue; K >= 0 • Threshold: • Very_close: 250 • Near: 300 • Far: 350 • Very_far: 400 • Behavior: • Left_sonar < 250 && Right_sonar < 250: back up • Left_sonar < 250: hard right • Right_sonar < 250: hard left • 250 < Left_sonar || Right_sonar < 300: turn left or right • 300 < Left_sonar && Right_sonar < 350: forward • Left_sonar && Right_sonar > 400: forward fast XCTU Display

  6. Experimental Results (cont.) • Image Processing Position Data Facial Recognition Thresholded Image Real-time Image

  7. Conclusion • Accomplishments • Platform design • Missile launcher system with pan/tilt servos • Obstacle Avoidance and Target Tracking • Understanding of C language, EE principles • Lessons Learned • Cutting platform on T-Tech • Move C.G. forward • Reduce shipping costs • MATLAB image processing • IR mount on missile launcher • ALWAYS BACK UP DATA!!

More Related