Nerf-Enabled Battlebot with Automated Target Detection using Multiple Sensing Department of Electrical Engineering and Computer Science University of Central Florida Dr. Lei Wei Sponsor: Lockheed Martin Senior Design I Fall 2016 Group 9 Aaron Hoyt Electrical Engineering Daniel Agudelo Computer Engineering Rafael Ramirez Computer Engineering Rachel Gremillion Computer Engineering Table of Contents 1. Executive Summary .................................................................................................... 1 2. Project Description ...................................................................................................... 2 2.1. Motivation ............................................................................................................. 2 2.2. Objective and Goals ............................................................................................. 2 2.3. Requirement Specifications .................................................................................. 3 2.3.1. Size ................................................................................................................ 3 2.3.2. Object Detection ............................................................................................. 4 2.3.3. Power ............................................................................................................. 4 2.3.4. Mobility ........................................................................................................... 5 2.3.5. Cost ................................................................................................................ 5 2.4. House of Quality Analysis ..................................................................................... 6 3. Research ..................................................................................................................... 8 3.1. Similar Projects ..................................................................................................... 8 3.2. Field Mapping/Localization ................................................................................. 10 3.2.1. SLAM ........................................................................................................... 10 3.2.2. SLAMMOT ................................................................................................... 13 3.3. Sensors .............................................................................................................. 14 3.3.1. Range Finders .............................................................................................. 14 3.3.1.1. Laser...................................................................................................... 15 3.3.1.2. Ultrasonic ............................................................................................... 16 3.3.2. Camera and Vision Sensors ......................................................................... 17 3.3.2.1. Raspberry Pi Camera Module v2 ........................................................... 17 3.3.2.2. Pixy CMUcam5 Image Sensor ............................................................... 18 3.3.2.3. Logitech HD Pro Webcam C920 ............................................................ 18 3.3.3. Thermal Camera .......................................................................................... 18 3.3.4. Encoder ........................................................................................................ 20 3.4. Microcontrollers .................................................................................................. 21 3.5. Microprocessors ................................................................................................. 22 3.6. Memory ............................................................................................................... 26 3.7. Operating Systems ............................................................................................. 27 3.8. Motors ................................................................................................................. 27 3.8.1. Brushed DC Motor........................................................................................ 28 3.8.1.1. CIM Motor .............................................................................................. 28 3.8.2. Servo Motor .................................................................................................. 28 3.8.3. Brushless DC Motor ..................................................................................... 29 3.9. Autonomous Detection ....................................................................................... 29 3.9.1. Computer Vision Software Frameworks ....................................................... 30 3.9.1.1. OpenCV ................................................................................................. 30 3.9.1.2. LTI-Lib ................................................................................................... 30 3.9.1.3. MatLab ................................................................................................... 30 3.9.1.4. VXL ........................................................................................................ 31 3.9.1.5. Framework Comparison ........................................................................ 31 i 3.9.2. Object Recognition ....................................................................................... 33 3.9.2.1. Edge Detection ...................................................................................... 33 3.9.2.2. Hough Transform ................................................................................... 33 3.9.2.3. Blob Detection ....................................................................................... 34 3.9.3. Motion Detection .......................................................................................... 34 3.9.5. Range Detection .......................................................................................... 35 3.9.6. Stereo Vision ................................................................................................ 36 3.9.7. Facial Detection ........................................................................................... 38 3.10. Power ............................................................................................................... 39 3.10.1. Sealed Lead-Acid ....................................................................................... 39 3.10.2. LiFePO4 ..................................................................................................... 40 3.10.3. NiMH .......................................................................................................... 41 3.10.4. LiPO ........................................................................................................... 42 3.11. Voltage Regulators ........................................................................................... 43 3.11.1. Linear Voltage Regulators .......................................................................... 43 3.11.2. Switching Voltage Regulators .................................................................... 44 3.12. Chassis ............................................................................................................. 45 3.13.1. Bi-polar Junction Transistors ...................................................................... 47 3.14. Nerf-Blaster....................................................................................................... 49 3.15. Motor Controller ................................................................................................ 50 3.16. Manual Navigation ............................................................................................ 51 3.16.1. PID Control ................................................................................................. 52 3.16.2. Odometry Model ......................................................................................... 52 3.16.3. Wireless Data Transfer ............................................................................... 54 3.17. Part Selection Summary ................................................................................... 56 3.17.1. Part Acquisition .......................................................................................... 60 3.17.1.1. Amazon ............................................................................................... 61 3.17.1.2. Robotshop ........................................................................................... 61 3.17.1.3. Sparkfun .............................................................................................. 61 3.17.1.4. Dimension Engineering ........................................................................ 61 4. Related Standards and Design Constraints .............................................................. 62 4.1. Standards Research ........................................................................................... 62 4.1.1. Design Impact .............................................................................................. 64 4.2. Design Constraints ............................................................................................. 64 4.2.1. Size Constraints ....................................................................................... 64 4.2.2. Ethical Constraints ......................................................................................