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Scavenging with a Laptop Robot

Scavenging with a Laptop Robot. Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson. AAAI Robotics Workshop 7/13/05. Constraints. basic ER1. ER1 reloaded. Emphasis on vision. Python/C++ in Windows. Basic Components. Devantech SRF04 @ $35.

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Scavenging with a Laptop Robot

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  1. Scavenging with a Laptop Robot Ben Tribelhorn, Susanna Ricco, Mac Mason, and Alan Davidson AAAI Robotics Workshop 7/13/05

  2. Constraints basic ER1 ER1 reloaded • Emphasis on vision • Python/C++ in Windows

  3. Basic Components Devantech SRF04 @ $35 ER1 RCM @ $200 & thanks to Yau Lam Yiu for Evolution-independent code! USB KritterCam @ $25 Pontech SV203 I/O board @ $60 MPI 5V servos @ $10

  4. Together Pan/tilt laser pointer Single sonar unit Circuit board for sonars, servos, and laser Beach ball beater

  5. Sonar Scratch work for circuit Capacitors… Single sonar circuit

  6. Laser NASA take note! Extremely precise whiteboard model of laser triangulation Adjustable-exposure camera Panning laser pointer

  7. Vision Connected components, color, size, and shape recognition

  8. Objects • Ellipse Fitting: • coordinate-free least squares • Angle • Diameters • Pixel Count • Centroid • Roundness = • Color

  9. MCL and Waypoints A simple demo

  10. State Machine

  11. Oops! Not Quite • Pan/Tilt servo motors for camera • Visual Odometry • Visual Environmental Map

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