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Image Recognition and Real Time Path Finding Robot

Image Recognition and Real Time Path Finding RobotbySujai V. NairUrvil P. ParmarAkash B. MandePankaj S. NakhaleGuided byMrs. P. N. Savagave

Image Recognition and Real Time Path Finding Robot1

IntroductionMotivationIntegration of obstacle avoider with a path finding algorithm and image recognition to help a robot reach its destination with only the top view photograph of the path. Image recognition The process of identifying and detecting an object or a feature in a digital imageAdvantages of proposed projectReal time co-ordinates are calculated automatically.Physical measurements are avoided.Robot is completely autonomous.Can be used as a basis for automation in industrial goods transport.Added intelligence to robot can allow canvasing of areas inaccessible to human beings.Satellite images can be used for drone airplanes and rovers.

2Image Recognition and Real Time Path Finding Robot

Stages of ProjectIdentifying suitable sensors for the robotMaking an obstacle avoiding robotTaking sample images for recognitionFinding physical co-ordinates from imageDetermining path for robotIntegration of above stages3Image Recognition and Real Time Path Finding Robot

Block Diagrams

OUR PROJECTImageComputerBOT


ROBOT Co-ordinate from computer Controller Motor driverTSOP sensorDC motor


INTERFACINGTSOP sensorMotor driver L293D12 V power supplyATMEGA32 microcontroller200 RPM DC MotorImage Processing


Hardware Description200 RPM Centre Shaft Economy Series DC MotorPosition Encoder KitSingle TSOP Sensor moduleL293D Motor DriverATMEGA32 Development Board7Image Recognition and Real Time Path Finding Robot

200 RPM Centre Shaft Economy Series DC Motor

200RPM Centre Shaft Economy Series DC Motor is high quality low cost DC geared motor. It has steel gears and pinions to ensure longer life and better wear and tear properties.Motor gives 200 RPM at 12V but motor runs smoothly from 4V to 12V andgives wide range of RPM, and torqueSpecifications- DC supply: 4 to 12V- RPM: 200 at 12V- Brush type: Precious metal- Output shaft: Centred- Gear assembly: Spur- Motor weight: 90gms


Position Encoder KitPosition Encoder Kit is used to measure speed of motor, find out distance travelled by robot.Kit contents1-Universal wheel1-Encoder Disc1-Motor Mount1-Encoder Mount2-12mm star bolt for Motor mount2-8mm star bolt for Encoder2-5mm self threading screw for metal disc1-6.5mm self threading screw for universal wheel4-M3 Nut2-Spring washersSpecificationPosition Encoder with RA MountEncoder resolution: 5.44mm / pulse


Single TSOP sensor moduleThe module consists of 555 IC, working in astable multi vibrator configuration. The output of TSOP is high whenever it receives a fixed frequency and low otherwise. The on-board LED indicator helps user to check status of the sensor without using any additional hardware. It gives a digital output and false detection due ambient light is low.Features Allows your robot to detect obstacles.Typical Maximum Range: 20 cm.Modulated IR transmitter to avoid any interferencesCalibration preset for range adjustment.Indicator LED with 3 pin easy interface connector.


L293D Motor DriverThe L293D is a Dual Full Bridge driver that can drive up to 1 Amp per bridge with supply voltage up to 24V. It can drive two DC motors in both direction and 4 DC motor in single direction, relays, solenoids, etc. The device is TTL compatible. SpecificationsOperating supply voltage up to 24 voltsIt can drive bipolar stepper motor up to 1 Amp.Bidirectional control of 2 DC motors up to 1 amp eachOperating PWM frequency range up to 20 KHzCurrent sensing outputOver temperature protection


ATMEGA32 Development BoardHigh-performance, Low-power AVR 8-bit MicrocontrollerAdvanced RISC ArchitectureNon-volatile Program and Data MemoriesJTAG (IEEE std. 1149.1 Compliant) InterfacePeripheral FeaturesSpecial Microcontroller FeaturesI/O and PackagesOperating VoltagesSpeed GradesPower Consumption at 1 MHz, 3V, 25C for ATmega32L


Software usedMATLABAVR Studio413Image Recognition and Real Time Path Finding Robot

Image recognition

14Image Recognition and Real Time Path Finding RobotCaptured ImageEdited Image

CalculationsReal Time calculations by robotCalculations in MATLAB15Image Recognition and Real Time Path Finding Robot

Real time calculation by Robot



QuadrantLeft turnRight turnITurn with angle (90-)y = Y - y` - Distx = X - x`turn right with (90- `)Turn with angle y = Y y`x = X- x`- Distturn left with `IITurn with angle y = Y - y`x = X - x` -Distturn right with `Turn with angle (90-)y = Y y`- Distx = X- x`turn left with (90-`)IIITurn with angle (90-)y = Y - y` - Distx = X - x`turn right with (90- `)Turn with angle y = Y y`x = X- x`- Distturn left with `IVTurn with angle y = Y - y` x = X - x`- Distturn right with `Turn with angle (90-)y = Y y`- Distx = X- x`turn left with (90-`)


1st Quadrant2nd Quadrant19Image Recognition and Real Time Path Finding Robot


3rd Quadrant4th Quadrant20Image Recognition and Real Time Path Finding Robot

ErrorsIn Image CapturingIn MATLABIn hardwareMotorsWheels


correctionsDuring angle measurementDuring Distance measurementFor projection in image


limitationsResolution of encoderWheelWheel DiameterWheel GripsMotorsSoftware


demoVideo demonstration24Image Recognition and Real Time Path Finding Robot

Image Recognition and Real Time Path Finding Robot24

BIBLOGRAPHYwww.campuscomponent.comwww.alldatasheets.comwww.mathworks.inen.wikipedia.orgwww.nex-robotics.comwww.atmel.inDigital Image Processing third editionby Rafael C. Gonzalez and Richard E. Woods25Image Recognition and Real Time Path Finding Robot

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