Embedded Motion Control 2012 Group 7: Difference between revisions
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There are many ways to solve a maze. These ways of finding the exit are translated into algorithm's. An overview of these algorithm's is given here: [http://www.astrolog.org/labyrnth/algrithm.htm]. | There are many ways to solve a maze. These ways of finding the exit are translated into algorithm's. An overview of these algorithm's is given here: [http://www.astrolog.org/labyrnth/algrithm.htm]. | ||
Based on this website and on the results shown in the paper "Simulated Maze Solving Algorithms through Unknown Mazes", presented in this pdf-file: [http://csp2009.mimuw.edu.pl/csp09vol1_v2_numbered.pdf], we probably will tackle the problem of solving the maze by means of the so-called Tremaux's Algorithm. | Based on this website and on the results shown in the paper "Simulated Maze Solving Algorithms through Unknown Mazes", presented in this pdf-file: [http://csp2009.mimuw.edu.pl/csp09vol1_v2_numbered.pdf], we probably will tackle the problem of solving the maze by means of the so-called Tremaux's Algorithm. | ||
==Image Processing== | |||
The detection of the arrows will be done by detecting the corners of the arrow. First, we did a simple test in Matlab with a photo of an arrow, using the Image Processing toolbox of Matlab. And now we are trying to write a corner detection algorithm for ROS. Probably using the "cornerSubpix"[http://opencv.itseez.com/doc/tutorials/features2d/trackingmotion/corner_subpixeles/corner_subpixeles.html?highlight=corner%20detection] function of the OpenCV library. We will use a simple webcam to test our algorithm. To be able to use a webcam in ROS the following tutorial is followed: [http://pharos.ece.utexas.edu/wiki/index.php/How_to_Use_a_Webcam_in_ROS_with_the_gscam_Package]. | |||
==Jazz's Blog== | ==Jazz's Blog== | ||
Revision as of 13:48, 15 May 2012
Group Info
| Group Members - | email (at student.tue.nl) | Sofware status |
| Siddhi Imming | s.imming | All software installed |
| Bart Moris | b.moris | All software installed |
| Roger Pouls | r.c.e.pouls | All software installed |
| Patrick Vaes | p.r.m.p.vaes | All software installed |
Tutor
Rob Janssen - R dot J dot M dot Janssen at tue dot nl
Planning
| General | Weekly meetings with group on Tuesday, Wednesday and Thursday. At least a weekly update of the wiki. Tasks are divided weekly. | ||
| Week 3 (7 may) | Write code to create a 2D map from the laser data. Write code for position control. Read chapter 9 from the book. | ||
| Navigation team | Image processing team | ||
| Week 4 (14 may) | Recognize the direction of walls Recognize opening in walls | Install webcam in ROS gscam. Get familiar with openCV for image processing. Make algorithm in MATLAB on example images. | |
| Week 5 (21 may) | Write code for the navigation for the corridor competition. Make sure the Jazz recognizes exits. Prepare the lecture. | Implement MATLAB algorithm in ROS with openCV. Prepare lecture. | |
| Week 6 (28 may) | Give the lecture. Finish and test the navigation for the corridor competition. Make sure Jazz takes the first exit. | Test algorithm with the Jazz Robot. Make images with Jazz Robot and test in MATLAB. Improve algorithm and test on Jazz Robot. | |
| Week 7 (4 jun) | Corridor competition. Write code for image recognition. Make sure arrows and their pointing direction are recognized. Discuss and choose a strategy for solving the maze. Start implementing the strategy into the navigation code. | ||
| Week 8 (11 jun) | Continue implementing the strategy into the navigation code. | ||
| Week 9 (18 jun) | Finish implementing the strategy into the navigation code. | ||
| Week 10/11 (25 jun / 2 jul) | Final competition. | ||
Progress
Week 1 + 2
| Ubuntu installation | Eclipse installation | Jazz Simulator installation | C++ tutorial | ROS tutorial | |
| Siddhi Imming | Done | Done | Done | Done | Done |
| Bart Moris | Done | Done | Done | Done | Done |
| Roger Pouls | Done | Done | Done | Done | Done |
| Patrick Vaes | Done | Done | Done | Done | Done |
Goals
Our main goal is to be able to solve the maze Jazz will be faced with during the final competition. As the philosophy in the world of robotics and also behind the ROS platform is to share knowledge and to use knowledge of others in order to speed up the design process. Of course, we take care of not just plugging in some code designed by others without really understanding what is going on and on what principles the process is based on. So our focus will be on designing a robust and fast navigation algorithm, rather than designing all kinds of new implementations of really nice functions that are already available for ROS.
Program structure
The scheme above shows the first proposal of the components of which the final program will consist. A more detailed overview will be published in the coming days or week(s). The components in grey are considered to be not very important in order to successfully complete the corridor competition. However, these components are necessary for a successful completion of the final competition.
Maze solving Algorithm's
There are many ways to solve a maze. These ways of finding the exit are translated into algorithm's. An overview of these algorithm's is given here: [1]. Based on this website and on the results shown in the paper "Simulated Maze Solving Algorithms through Unknown Mazes", presented in this pdf-file: [2], we probably will tackle the problem of solving the maze by means of the so-called Tremaux's Algorithm.
Image Processing
The detection of the arrows will be done by detecting the corners of the arrow. First, we did a simple test in Matlab with a photo of an arrow, using the Image Processing toolbox of Matlab. And now we are trying to write a corner detection algorithm for ROS. Probably using the "cornerSubpix"[3] function of the OpenCV library. We will use a simple webcam to test our algorithm. To be able to use a webcam in ROS the following tutorial is followed: [4].
Jazz's Blog
In this section I will publish all kinds of information on the things I am currently learning, I have learned so far and my further ambitions.
11th of May 2012 - Created my first map
Today, I created my first map while being controlled by some keyboard inputs to steer forward, left and right. Here is a movie of this mapping process:
Currently, I am busy with learning how to process the map to enable navigating trough the maze. Moreover I am learning how to process images captured by my camera, such that I can recognize arrows and their pointing direction.
Next week, I'll update you about my progress...
8th of May 2012 - Learning how to make a map
Today, I have been busy with learning how I can produce a 2D map of the data I receive from all my sensors. I hope to succeed in making a map before the end of this week. Besides, I will try to succeed in driving a predefined distance or angle. This should eventually help me following the instructions of my navigation program.
I hope to have more exciting news soon...