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Unmanned Maze Solver . Using aerial image processing and wireless connectivity to direct a robot through a maze. . Nicholas Hoover Matthew Mitrik Edward Waxler. Overview. Aerial camera views terrain below (maze) Converts image into symbolic form Finds path through the terrain (maze)
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Unmanned Maze Solver Using aerial image processing and wireless connectivity to direct a robot through a maze. Nicholas Hoover Matthew Mitrik Edward Waxler
Overview • Aerial camera views terrain below (maze) • Converts image into symbolic form • Finds path through the terrain (maze) • Communicates path wirelessly to unmanned vehicle (robot) • Vehicle follows given path
Major System Components • Maze • Base Station (camera, PC, wireless node) • Robot
Maze Tile Templates • Tile templates can be used to reconfigure a maze on the fly
Image Capturing • Sony EVI-D100 • Osprey-210 Analog Capture Card • Up to 30 frames/sec
Image Processing • Intel OpenCV • Image Filtering • Template Matching
Maze Before & After Extraction • Dijkstra’s shortest path algorithm will be used to solve the maze
Communication Network • Two nodes • Base station • Robot • Mica2 Motes • Two-way reliable communication
Mica2 Motes • Compact • Low-power • Integrated solution
Questions? ???