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 Graphical User Interface Real-time feed Overrides Forward Reverse Rotate Left Video Rotate Right Halt Graphical representation Resume Transmit path Status Communicating Distress Finished Stopped # Communication Network Two nodes Base station Robot Mica2 Motes Two-way reliable communication Mica2 Motes Compact Low-power Integrated solution Packet Format Description Preamble (1 Byte) Indicates the beginning of a packet. Packet Number (1 Byte) Number of payload bytes in the packet. Payload (12 Bytes Max) Contains up to 12 bytes of control, recipe, or override commands. Each command will follow the message format described previously. Checksum (1 Byte) One byte checksum to ensure the payload was transmitted correctly. Robot Robot Block Diagram Messaging Protocol Control t Heartbea Distress ACK Start DONE Recipe Commands Overrides Forward Left Turn Right Turn EndR Forward Step Backward Step CCW Step CW Step Pause Resume Reset Project Milestones Final project proposal and design review, sample maze tiles 12/1/2005 Basic mote messaging, maze solving algorithm 12/8/2005 Website started 12/13/2005 Image recognition of robot, basic robot movement, overrides and robot UI 12/15/2005 Final maze construction, wireless protocol implementation, sensors working 1/5/2006 Image recognition of maze tiles and robot, robot-mote communication 1/12/2006 Symbolic graph extraction of maze, full wireless communication 1/19/2006 Base station GUI, begin integration 1/26/2006 Integration and reliability testing 2/2/2006 Poster, presentation, final report 2/9/2006 Project write-up, website, and demonstration (Instructor) 2/14/2006 Public demonstration 2/16/2006 Team Assessments 2/22/2006 Bill of Materials Component Camera Maze & Fixture Price $959.00 $50.00 Quantity 1 1 Mica2 Mote Mica Interface Board PIC18F4320 uController UC3770 Motor Controller $125.00 $95.00 $8.17 $5.56 2 1 1 4 Tires $5.99 2 Bill of Materials II Component Stepper Motors 9.6V Rechargeable Battery Battery Charger Acrylite FF Sheets Ball Bearings LEDs, Switches, Misc. QRB1113 Optoreflectors Price $6.49 $8.99 $26.99 $9.99 $9.99 $10.00 $1.50 Quantity 2 1 1 1 1 1 8 Questions? ???