Image Processing Based Autonomous Bradley Rover
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1 Image Processing Based Autonomous Bradley Rover Bradley University ECE Department December 7 th, 2004 Team Members: Steve Goggins Pete Lange Rob Scherbinske Advisors: Dr. Huggins Dr. Malinowski Dr. Schertz 1
2 Project Summary Autonomous Vehicle Navigation Object Avoidance Heading Control Vehicle Locator Web-Based Control Wireless Communication Link 2
3 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 3
4 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 4
5 Previous Senior Project Work Tracking Migrating Birds Around Large Structures Arik Brooks & Nick Patrick (2004) BirdTrak Project Brian Crombie and Matt Zivney (2003) Basic Stereoscopic Imaging Techniques Autonomous Vehicle Ramona Cone and Erin Cundiff (2003) Datasheets for Gaucho and Linear Actuator Implementation and Statistical Analysis of a Differential GPS System Jon Kerr and Jim Connor (2002) NMEA Message Parsing Method 5
6 Standards ANSI/IEEE Std , 1999 Edition. IEEE Std b Supplement to standard. Transmitter Power: 1 mw 1000 mw Input level: -76 dbm (min) to -10 dbm (max) National Marine Electronics Association (NMEA) GPS Messaging Standard 6
7 Applicable Patents Patent Number 6,661,449 5,812,269 6,751,535 6,151,539 6,775,614 Description Object recognizing apparatus for vehicle and the method thereof Triangulation-based 3-D imaging and processing method Travel controlling apparatus of unmanned vehicle Autonomous vehicle arrangement and method for controlling an autonomous vehicle Vehicle navigation system using live images 7
8 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 8
9 Project Description Functional Description Block Diagram Datasheet 9
10 Project Description Functional Description System I/O Modes of Operation Block Diagram Datasheet 10
11 System I/O 11
12 Modes of Operation Wait Startup mode with systems active but no data processing Relocate Systems active including data acquisition and processing. Motors active. SOS Catch-all all for any errors or in the event of unavoidable obstacles. Same as wait mode except cannot recover without operator intevention 12
13 Project Description Functional Description Block Diagram Datasheet 13
14 Block Diagram 14
15 Detailed Subsystem Block Diagram 15
16 Project Description Functional Description Block Diagram Datasheet 16
17 Datasheet Maximum Speed TBD Turning Radius TBD Motor HP - TBD Sensors Stereoscopic Cameras GPS Receiver Digital Compass Battery Life TBD RF Link Range TBD Field of View TBD Object Resolution (Maximum Distance) TBD Image Processing Latency - TBD Client System Requirements - TBD 17
18 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 18
19 Preliminary Lab Work Stereoscopic Imaging Progress GPS Receiver Progress x Progress 19
20 Stereoscopic Imaging Progress Matlab Image Acquisition Toolbox USB Cameras Camera Calibration Toolbox for Matlab Pinhole Camera Equations 20
21 Stereoscopic Imaging Progress Matlab Image Acquisition Toolbox USB Cameras Camera Calibration Toolbox for Matlab Pinhole Camera Equations 21
22 Stereoscopic Imaging Progress Matlab Image Acquisition Toolbox USB Cameras Camera Calibration Toolbox for Matlab Pinhole Camera Equations 22
23 Stereoscopic Imaging Progress Matlab Image Acquisition Toolbox USB Cameras Camera Calibration Toolbox for Matlab Pinhole Camera Equations 23
24 24 24 Pinhole Camera Equations and Pinhole Camera Equations and Coordinate System Coordinate System R L L X X d X X = R L L X X d Y Y = X L X R d f Z = R L L X X d X X = R L L X X d Y Y = X L X R d f Z = Equations from Bird Tracking Project 2003
25 Preliminary Lab Work Stereoscopic Imaging Progress GPS Receiver Progress x Progress 25
26 GPS Receiver Progress Ashtech G8 GPS Receiver chosen Jobst/Baker quad landmarks mapped Java chosen for serial port communication and GPS data parsing NMEA messages for initialization and position request tested via Hyperterminal Java serial port initialization code investigated 26
27 Preliminary Lab Work Stereoscopic Imaging Progress GPS Receiver Progress x Progress 27
28 802.11x Progress standards researched Power and signal levels researched RF antenna design researched Friis Transmission Formula: P r = P t g t g r (λ/4πr) 2 28
29 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 29
30 Equipment and Parts List Bradley Rover (Gaucho) MEM00015 DC Motors Electrak 1 Linear Actuator with feedback potentiometer 2 USB 2.0 Webcams Undetermined Model Onboard Laptop Gateway 450Eb series Standard Lab PC in grad-lab for Java Server Ashtech G8 GPS Receiver Part # Vector 2X Digital Compass Module Part # V Car Battery 30
31 Project Outline Previous Work Project Description Preliminary Lab Work Equipment and Parts List Development Schedule Questions 31
32 Week Pete RF Antenna & Power Electronics Designs RF Antenna & Power Electronics Designs RF Antenna & Power Electronics Designs RF Antenna & Power Electronics Designs Power Electronics Design & Construction Power Electronics Construction Development Schedule Rob Camera System Assembly and Testing Camera System Testing and Beginning Calibration Camera System Calibration (Matlab Code) Camera System Calibration (Matlab Code) & Object Avoidance Algorithm Correlating Images Work (Matlab Code) & Object Avoidance Algorithm Correlating Images Work (Matlab Code) & Object Avoidance Algorithm Steve GPS Software GPS Software Digital Compass Control Digital Compass Control Global Navigation Global Navigation 32
33 Development Schedule Week Pete Rob Steve 7 Power Electronics Construction & Testing Correlated Images Testing (Matlab Code) & Object Avoidance Algorithm Global Navigation 8 Power Electronics Construction & Testing Correlated Images Testing (Matlab Code) & Object Avoidance Algorithm Global Navigation 9 RF Antenna Construction Correlated Images Testing (Matlab Code) & Object Avoidance Algorithm Global Navigation 10 RF Antenna Construction & Testing Correlated Images Testing (Matlab Code) & Object Avoidance Algorithm Global Navigation 11 RF Antenna Construction & Testing Avoidance System Testing Java Web Interface 12 Power Electronics & RF Antenna Testing Avoidance System Testing Java Web Interface 33
34 Image Processing Based Autonomous Bradley Rover Bradley University ECE Department December 7 th, 2004 Questions? Team Members: Steve Goggins Pete Lange Rob Scherbinske 34
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