Download - Lunabotics Navigation Package
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Lunabotics Navigation PackageTeam May14-20Advisor: Dr. Koray CelikClients: ISU Lunabotics Club, Vermeer Company
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Project Scope
NASA Lunabotics
Mining Competition• For university-level students
to design and build a mining robot that can traverse the simulated Martian chaotic terrain
• Points are awarded for autonomy
• Landmarks allowed for navigation
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Project Scope
Our Clients
• Lunabotics Club
• Vermeer Companyo Large industrial
and agricultural equipment
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Project Scope
ISU Lunabotics Club• Bump detectors
• Laser detector for orientation
• No obstacle detection
• LabView
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Project Scope
Our Solution• Create prototype navigation system using computer vision techniques for
navigation and object detection
• Microsoft Kinect for prototype hardware solution
• Open-source software
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Design
Platform• Laptop Computer
o 2.26 GHz Dual Core Processor
o 4 GB RAM
• Microsoft Kinecto RGB Camerao Infrared Optics
• Robot ‘Virgil’
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Design
Virgil• Built by Dr. Koray Celik
• Representative of Lunabotics robot
• Modified Kinect
• Motor Controllero 4 Motors
• Encoder Controllero 6 Encoders
• Li-Ion Battery Powered
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Design
Software• Ubuntu Linux 12.04 LTS
• OpenCV 2.4.8
• OpenNI 1.5.7.10
• PropulsionClass
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Design
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Design
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Design
Landmark Detection• Acquisition Module
• Color Threshold
• Canny Convolution Operator
• Boundary Tracing
• Rectilinear Object Recognition
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Landmark Detection
CannyThreshold
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Landmark Detection
Contour All Poly Filter
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Landmark Detection
● Unobtrusive landmark, not likely to be found naturally
● Searching for rectilinear shapes with overlapping midpoints
● State-space reduction to reduce noise
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Design
Obstacle Detection• Acquire depth map
• Smoothing
• Regression
• Least Squares Plane Fitting
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Obstacle Detection
• Plane Fitting
• Least Squares Regression
Smoothed Depth Mat
Normal Floor Plane
Blue - ObjectOrange - Floor
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Obstacle Detection
• Threshold regression values
• Contour Filter
• Area of bounding rectangle
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Path Generation
• Finite State Machine
• Landmark must be in sight upon start
• Drives towards landmark, avoids obstacles that appear in its path
• Maintains spacial awareness to landmark in case it loses sight
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Path Gen
1. Find landmark
2. Move towards the landmark
3. Obstacle detected
4. Proceed on alternate path
5. Turn back to relocate landmark
6. Head to landmark
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Accomplishments
Core Requirements
• Robot Movemento Smooth Acceleration and turningo Position and heading
• Landmark detectiono Recognize and distinguish between our two landmarks
• Obstacle detectiono Recognise obstacles above 4 cm tallo Recognize Landmarks as not obstacles
• Navigationo Obstacle avoidance
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Challenges
• Landmark Detectiono Noise reduction
• Obstacle Detectiono Uneven terrain issues
• Encodero Set back by hardware (group is more software oriented
• OpenNI Bug o Appears around 3 minute marko Prevents code from scalability in terms of computational
complexityo Caused by XnSensorServer
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Testing
Simulated Arena• 3 m X 2 m area
• Virgil is representative of Lunabotics Club’s Robot
Method• Test movement
• Test landmark detection, eliminate false-positives
• Test object detection
• Test obstacle avoidance
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Demonstration
https://www.youtube.com/watch?v=WRIJiebZkOs
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What’s Next?
• Introduce Improved Hardwareo 2.5-D Lidaro High Definition RGB Camera
• Integrate Encoder Support
• Improve Navigation Algorithm
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Questions?