Intelligent Vision-Driven Robot for Sample Detection and Return -A Study in Artificial Intelligence
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MXC-380 Intelligent Vision-Driven Robot For Sample Detection And Return -A Study in Artificial Intelligence A Major Qualifying Project Report: Submitted to the faculty of the WORCESTER POLYTECHNIC INSTITUTE In partial fulfillment of the requirements for the Degree of Bachelor of Science by: __________________ __________________ Tianci Zhao (RBE) Peng Ren (CS) Approved: ___________________ Michael J. Ciaraldi Abstract This project explores various vision methodologies to locate and return a user-specified object. The project involves building an automatic robotic unit with an all-terrain chassis vehicle and integrated camera. The high level vision control system uses serial communication to direct the low level mechanical parts. The chosen approach for vision analysis is comparison of color thresholds. This solution provides generally accurate detection even in an environment which is noisy but has good color contrast. i Table of Contents Chapter 1: Introduction to the project ................................................................................................... 3 Project Goal ........................................................................................................................................ 3 Report organization ............................................................................................................................ 4 Chapter 2: Background Research ........................................................................................................... 5 History of Robots ................................................................................................................................ 5 Mars Sample Return Mission ............................................................................................................. 6 NASA-WPI Sample Return Robot Challenge ....................................................................................... 8 Computer Vision ................................................................................................................................. 9 Chapter 3: Methodology ...................................................................................................................... 12 Robot Hardware ............................................................................................................................... 12 Robot Chassis................................................................................................................................ 12 Robot Controller ........................................................................................................................... 14 Camera ......................................................................................................................................... 15 Robot Software ................................................................................................................................. 16 Programming Language ................................................................................................................ 16 Embedded Programming and Communication Toolkit ................................................................ 17 Vision Software ............................................................................................................................. 18 Chapter 4: Implementation .................................................................................................................. 21 Physical Construction ....................................................................................................................... 21 Structure ....................................................................................................................................... 21 ii Custom Components .................................................................................................................... 21 Wiring ........................................................................................................................................... 23 Software Design................................................................................................................................ 24 Software Architecture .................................................................................................................. 24 Software Design and Relationship ................................................................................................ 25 User Interface Program ................................................................................................................ 26 Vision Controller ........................................................................................................................... 28 Serial Controller ............................................................................................................................ 29 Navigation System ........................................................................................................................ 30 Robot Vision ..................................................................................................................................... 35 SURF Algorithm ............................................................................................................................. 36 Haar Cascade Classification .......................................................................................................... 38 Color Filtering Algorithm .............................................................................................................. 40 Chapter 5: Results ................................................................................................................................ 45 Chapter 6: Conclusion .......................................................................................................................... 50 Chapter 7: Future Work ........................................................................................................................ 51 Mechanical Recommendations ........................................................................................................ 51 Software Recommendations ............................................................................................................ 52 Appendix ............................................................................................................................................... 54 References ............................................................................................................................................ 56 iii Table of Figures Figure 2 - 1: Curiosity [3] ........................................................................................................................ 7 Figure 2 - 2: Basic Concept of Mars 2020 Rover [5] ............................................................................... 8 Figure 2 - 3: Robot used in the 2012 NASA-WPI Sample Return Robot Challenge ................................ 9 Figure 2 - 4: Guzman’68 [9] Figure 2 - 5: Ohta Kanade’78[9] ........................................................... 10 Figure 2 - 6: Turk and Pentland’91[9] ................................................................................................... 10 Figure 2 - 7: Turtlebot 2 Figure 2 - 8: map generated by Turtlebot 2 by using gmapping ............... 11 Figure 3 - 1: A representative model of the first rover design ............................................................. 13 Figure 3 - 2: Dagu Wild Thumper 4WD All-Terrain Chassis .................................................................. 14 Figure 3 - 3: T’ReX Robot/Motor Controller ......................................................................................... 15 Figure 3 - 4: Axis M1033-W Network Camera, Logitech WebCam C610 HD ........................................ 16 Figure 3 - 5: Axis M1033-W Network Camera, Logitech WebCam C610 HD ........................................ 18 Figure 3 - 6: OpenCV Logo .................................................................................................................... 19 Figure 4 - 1: Battery to T’ReX controller adaptor ................................................................................. 22 Figure 4 - 2: camera to T’ReX controller adaptor ................................................................................. 23 Figure 4 - 3: Top view with components .............................................................................................. 24 Figure 4 - 4: Software architecture ....................................................................................................... 25 Figure 4 - 5: Graphic User Interface for teleoperation ......................................................................... 27 Figure 4 - 6: Computer Vision Graphic User Interface ......................................................................... 28 Figure 4 - 7: Overall Robot Navigation ................................................................................................. 32 Figure 4 - 8: Robot Navigation 1 ........................................................................................................... 32 Figure 4 - 9: Robot Navigation 2 ........................................................................................................... 33 1 Figure 4 - 10: Robot Navigation 3 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