prof dr ir S Stramigioli prof dr ir J van Amerongen 2006
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citeseer
(0) (0 Votes)Views: (1088) Date: (22-01-08) Pages: () -
Author: by Maksym Usov Ir. G. Van Oort Ir. E. C. Dertien
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Abstract: This thesis has been performed at the Control Laboratory of the University of Twente. The mechanical design of a mobile robot platform and the design and practical implementation of a purely vision based navigation algorithm under real-time constraints are presented in this report. General requirements for this project are to use vision for navigation and to use cheap, market available hardware. In the scope of this project the hardware design has a lower priority then the theoretical study and development of the vision based control algorithm. The constructed mobile platform is equipped with a single web camera and 1.2Ghz Mini ITX board is used to process the visual data. To steer the motors of the robot the RT-AVR microcontroller board is used. The robot is equipped with a wireless card and interaction with the robot is performed via Internet using the implemented graphical user interface. Vision based estimations are performed at rate of 15 frames per second. The implemented purely vision based navigation algorithm relies on the estimation of the frontal optical flow. The control strategy behind the algorithm is an optical flow balance strategy. In order to achieve a desired behavior the balance strategy has been extended with rotation estimations
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