Autonomous Tracking Robot

Autonomous Tracking RobotAndy Duong Chris Gurley Nate Klein

Wink Barnes

Georgia Institute of TechnologySchool of Electrical and Computer Engineering

ECE4007, L04

March 12th, 2009

2

Project OverviewProject Overview

• Create an autonomous tank with the ability to locate, track, and fire a projectile at a target using infrared and ultrasonic sensors and a web camera

• 1/16 scale proof of feasibility for expansion to unmanned military and civilian search-and-rescue applications

• Save lives by removing humans from the front line of battle and hazardous terrain

• Estimated development cost of $3240 for the small scale model; full scale implementation costs over $1 million

3

Design ObjectivesDesign Objectives

• Detect the presence of and rotate to face a target within 5m using five infrared sensors

• Approach the target to within 2.75m ± .25m using a web camera with color tracking software and an ultrasonic sensor

• Re-locate the target if it moves out of range of the projectile or out of the webcam’s view angle of 36° off center

• Fire a projectile at the target with a 6° cone of accuracy once it is within 3m

4

Vehicle DesignVehicle Design

5

Project Illustration: Target AcquisitionProject Illustration: Target Acquisition

6

Project Illustration: Rotation and ApproachProject Illustration: Rotation and Approach

7

Hardware OverviewHardware Overview

8

Hardware DesignHardware Design

9

Hardware: SensorsHardware: Sensors

IR Sensor IR Spot Sensor

Movement Detection 30cm 30cm

Detection Distance (max) 5m 5m

Horizontal Detection 100° 38°

Vertical Detection 82° 22°

Ultrasonic Sensor

Detection Range 0.1524m (6 inches) - 6.45m (254 inches)

10

Hardware PicturesHardware Pictures

11

• Operating on Windows CE Embedded OS

• Coded software in C++

• Using Phidgets 8/8/8 Board to read sensor inputs and send digital output signals

• Utilizing “phidgets21” library for function calls

– Analog methods return value between 0-1000

– IR Sensors steady state between 480-520 (~2.5V)

– Sensor value >400 or <600 indicates target motion

Software ComponentsSoftware Components

12

Software Algorithm OverviewSoftware Algorithm Overview

13

Color Tracking AlgorithmColor Tracking Algorithm

• Edit Logitech webcam driver for color tracking algorithm

• Compare pixels and create a 2D Array of Boolean values flagging the pixels that are within a threshold of a target color

– Threshold: 20 ≥ |RT–RX| + |GT–GX| + |BT–BX| where RT, GT, and BT corresponds to target colors and RX, GX, and BX corresponds to pixel colors

• Search the neighbors of flagged values to generate groups of potential targets

• Average the indexes of the largest group and turn the tank based on the group’s average offset from the center pixel

14

Problems and LimitationsProblems and Limitations

• Tank

– Movement vs. Turning

• Ultrasonic Sensor Accuracy

• Tracking the Target

– Accumulation of Error in Turret Rotation

– Vertical Alignment Not Viable

– Color Tracking

15

Demonstration and Acceptance TestingDemonstration and Acceptance Testing

• Actions:

1. Detecting and rotating to face the target

2. Approaching and tracking the target

3. Aligning turret and firing the projectile

Testing Stages Description

One Independent testing of each action

Two Testing of neighboring consecutive actions

Three Testing of all actions consecutively

16

Project ScheduleProject Schedule

• Completed Tasks:– Mounted/Connected IR Sensors, Ultrasonic Sensors,

Webcam

– Built power circuit to run eBox by battery

– Wrote template for software

– Tested sensor functionality/accuracy

– Processed sensor data in software

17

Future WorkFuture Work

Task Name Estimated Completion Time

Color Tracking Software 3/20

Software Debug 4/2

Test Robot Functionality 4/5

Final Presentation 4/16

Final Demonstration 4/30

18

Budget and Cost AnalysisBudget and Cost Analysis

Item Qty Total Cost

RC German Tiger Tank 1 $79

AMN23111 IR Motion Sensor 4 $144

AMN21111 IR Spot Sensor 1 $12

HB-401 H-Bridge 1 $50

Item (Borrowed) Qty Est. Cost

QuickcamPro 5000 Webcam 1 $50

Phidgets Ultrasonic Sensor 1 $30

Wiring/Mounts 1 $5

-Total Amount Spent: $285-Total Estimated Parts Cost: $370-Total Estimated Cost (1 Unit, Including Labor): $3240-Total Proposed Selling Price (Based on Mass Production): $3600

19

Current StatusCurrent Status

• Completed:

– Hardware integration and testing

• In progress:

– Tank alignment algorithm

– Color tracking algorithm

• Future:

– Demonstration testing

20

QuestionsQuestions

?