DEC50122 - Embedded

ROBOTIC
Chapter 4 – MOBILE ROBOT
APPLICATION
by
MUHAMMAD FARIS BIN HAMDANI
 4.0 MOBILE ROBOT APPLICATION (04:13)
 Localization and navigation, real time image processing, robot wireless
communication, robot soccer.
ROBOT SOCCER FIRA
COMPETITION
 Micro-Robot World Soccer Tournament (MiroSot) initiative gives a good arena for multi-agent
research, dealing with research subjects such as cooperation protocol by distributed control,
effective communication and fault tolerance, while having efficiency of cooperation,
adaptation, robustness and being in real-time.
 With the ever increase in number of robots in an industrial environment,
scientists/technologists were often faced with issues on cooperation and coordination among
different robots and their self-governance in a workspace. This has led to the developments in
multi-robot cooperative autonomous systems. The opponents of multi-robot autonomous
systems needed a model to test the theories being proposed to test its efficacy and efficiency.
It is not a surprise that they started focusing on robot soccer. Robot soccer makes heavy
demands in all the key areas of robot technology, mechanics, sensors and intelligence. And it
does so in a competitive setting that people around the world can understand and enjoy.
 The Micro-Robot World Cup Soccer Tournament (MiroSot) thus was given birth, and a new
interdisciplinary research area emerged, where scientists and technologists from diverse fields
like, robotics, intelligent control, communication, computer technology, sensor technology,
image processing, mechatronics, artificial life, etc., work together to make the multi-robot
systems a reality. The robots used in MiroSot are small in size (7.5cm x 7.5cm x 7.5cm),
fully/semi autonomous and without any human operators.
MiroSot involves multiple robots that need to collaborate in an adversarial environment to
achieve specific objectives.
 ROBOT SOCCER STRUCTUR
HUROCUP AMEROSOT MIROSOT NAROSOT ANDROSOT ROBOSOT SIMUROSOT

7 TASK 2 TASK SMALL & SMALL & 3 TASK 3 TASK SMALL &
MEDIUM MEDIUM LARGE
LEAGUE LEAGUE LEAGUE
SENSOR AND ACTUATOR
SENSOR AND ACTUATOR
Understand localization and navigation

 The three key questions in Mobile Robotics

 Where am I ?
 Where am I going ?
 How do I get there ?

 To answer these questions the robot has to

 have a model of the environment (given or autonomously built)
 perceive and analyze the environment
 find its position within the environment
 plan and execute the movement
 This course will deal with Locomotion and Navigation
(Perception, Localization, Planning and motion generation)
 Methods for Navigation:

Approaches with Limitations
Incrementally
(dead reckoning)

Odometric or initial
sensors (gyro)

 not applicable
 The Key for Autonomous
Navigation
• Environment Representation
– Continues Metric -> x,y,q
– Discrete Metric -> metric grid
– Discrete Topological -> topological grid
• Environment Modeling
– Raw sensor data, e.g. laser range data, grayscale images
• large volume of data, low distinctiveness
• makes use of all acquired information
– Low level features, e.g. line other geometric features
• medium volume of data, average distinctiveness
• filters out the useful information, still ambiguities
– High level features, e.g. doors, a car, the Eiffel tower
• low volume of data, high distinctiveness
• filters out the useful information, few/no ambiguities, not enough
information
Image processing in mobile
robot Image tracking, surveillance systems, and robotic
platforms are fields that have been well studied in
the past decade. However, in the majority of
surveillance and video tracking systems, the sensors
are stationary. The stationary systems require the
desired object to stay within the surveillance range of
the system. If the object goes beyond this range.
It no longer becomes tractable. One solution to
this problem is to design the system as a mobile system
that uses a infrared range sensor, and a visual-spectrum
camera, to track the object and avoid obstacles.

These systems are primarily concerned with object tracking,

and the obstacle avoidance problem.

The contributions of this paper are to present a

mobile robotic system which can simultaneously detect
an object and avoid obstacles in real-time. We first
introduce the system architecture, then present strategy
for object detection, obstacle detection, obstacle
avoidance mechanism and robot control.
 Camera Interface
The robot and the control systems need not be at the
same location. The user side terminal and the robot
are connected by a network. The robot receives
surrounding information from equipped sensors, and
sends it to the terminal. The user can see this
information on a screen, and if the user wants to
move the robot, the user sends a command. Then, the
robot should proceed depending on it.

In this work, we assume that the terminal consists of a

display and mouse for PCs. Instead of these devices,
we can also allow the user to use touch panels. We
also suppose that the robot has a single camera and an
odometer system. Odometry is a method using
rotation angles of tires (motors) to calculate self-
location.

As the odometry devices, rotary encoders,

servomotors and stepping motors are usually used.
In this work, the targets are static and unknown
objects
having texture. Currently, the robot is designed to
move on
flat floors. There should also be enough illumination
 RGB Color space
 The RGB color model is an additive color model in which red,
green and blue light are added together in various ways to
reproduce a broad array of colors. The name of the model
comes from the initials of the three additive primary colors,
red, green and blue.

 The main purpose of the RGB color model is for the sensing,
representation and display of images in electronic systems,
such as televisions and computers, though it has also been used
in conventional photography. Before the electronic age, the
RGB color model already had a solid theory behind it, based in
human perception of colors.

 RGB is a device-dependent color model: different devices

detect or reproduce a given RGB value differently, since the
color elements (such as phosphors or dyes) and their response
to the individual R, G and B levels vary from manufacturer to
manufacturer, or even in the same device over time. Thus an
RGB value does not define the same color across devices
without some kind of color management.

 Typical RGB input devices are color TV and video cameras,

image scanners, video games, and digital cameras. Typical RGB
output devices are TV sets of various technologies (CRT, LCD,
plasma, OLED, Quantum-Dots etc.), computer and mobile
phone displays, video projectors, multicolor LED displays and
large screens such as Jumbo Tron. Color printers, on the other
hand are not RGB devices, but subtractive color devices
(typically CMYK color model).
Hue saturation intensity (HSI) or hue saturation value
(HSV)

 HSL and HSV are the two most common cylindrical-coordinate representations of points in an RGB color
model. The two representations rearrange the geometry of RGB in an attempt to be more intuitive and
perceptually relevant than the Cartesian (cube) representation. Developed in the 1970s for computer graphics
applications, HSL and HSV are used today in color pickers, in image editing software, and less commonly in
image analysis and computer vision.
 HSL stands for hue, saturation, and lightness (or luminosity), and is also often called HLS. HSV stands for
hue, saturation, and value, and is also often called HSB (B for brightness). A third model, common in
computer vision applications, is HSI, for hue, saturation, and intensity. However, while typically consistent,
these definitions are not standardized, and any of these abbreviations might be used for any of these three or
several other related cylindrical models. (For technical definitions of these terms, see below.)
 In each cylinder, the angle around the central vertical axis corresponds to "hue", the distance from the axis
corresponds to "saturation", and the distance along the axis corresponds to "lightness", "value" or "brightness".
Note that while "hue" in HSL and HSV refers to the same attribute, their definitions of "saturation" differ
dramatically.
 Because HSL and HSV are simple transformations of device-dependent RGB models, the physical colors they
define depend on the colors of the red, green, and blue primaries of the device or of the particular RGB
space, and on the gamma correction used to represent the amounts of those primaries. As a result, each
unique RGB device has unique HSL and HSV absolute color spaces to accompany it (just as it has unique RGB
absolute color space to accompany it), and the same numerical HSL or HSV values (just as numerical RGB
values) may be displayed differently by different devices.
 Both of these representations are used widely in computer graphics, and one or the other of them is often
more convenient than RGB, but both are also criticized for not adequately separating color-making
attributes, or for their lack of perceptual uniformity
Hue saturation intensity (HSI)
or hue saturation value (HSV)
 Demonstrate colour object detection by computer
software

Object detection and segmentation is the

most important and challenging
fundamental task of computer vision. It is
a critical part in many applications such
as image search, scene understanding,
etc. However it is still an open problem
due to the variety and complexity of
object classes and backgrounds.

The easiest way to detect and segment an

object from an image is the color based
methods . The object and the background
should have a significant color difference
in order to successfully segment objects
using color based methods.
RF radio signal

This RF remote control robotic vehicle project explains how a

robotic vehicle can be controlled using radio frequency remote
control technology. In this project, for a demonstration
purpose, a low-power laser light interfaced with the 8051
microcontroller is used for showing the potentials of destroying
or diffusing a distant object. Before discussing about the
working of the radio frequency controlled wireless robot, we
must know about the RF modules such as RF transmitter
modules and RF receiver modules.
Bluetooth technology

 Bluetooth is a technology standard for electronic devices to communicate with each other
using short-range radio. Bluetooth was first developed by Ericsson, it was intended to
provide a cheap wireless support for mobile devices communicating at close range and it
was supposed to be a cable replacement. Bluetooth devices can switch between 79
channels available in the 2.4 GHz.

Bluetooth is based on a frequency hopping spread spectrum (FHSS) modulation technique,

where spread spectrum means a series of methods for spreading radio signals over
multiple frequencies, either simultaneously (direct sequence) or in series (frequency
hopping).

Interoperability between two Bluetooth devices can only be made if there is at least one
common profile. One of the earliest and most widely supported profiles is the Serial Port
Profile (SPP). Currently there are more than 25 different profiles defined or in the process
of being defined by the Bluetooth SIG (***2008 MSRS Bluetooth Boe-Bot[R] Robot).

Many researchers have tried various ways to control mobile robots using different
technologies like WLAN(Wireless LAN), HomeRF(Home Radio Frequency), IrDA(Infrared
Data Association), UWB(Ultra Wideband) and Bluetooth (Murphy, 2002; Haartsen, 2000;
Bray, 2001).