INTRODUCTION EXPERIMENTS - DISPLACEMENTS - IMAGE PROCESSING AND DECISION RESULTS CONCLUSION
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1 INTRODUCTION EXPERIMENTS - DISPLACEMENTS - IMAGE PROCESSING AND DECISION RESULTS CONCLUSION Supervisors: Haghighat Bahar, Duarte da Cruz Baptista Dias
2 Implementation of a code providing the e-puck the capability to read a simple road sign with its camera, analyze the picture on board and decide whether: turn left, turn right, turn 180.
3 Code s structure - Infinite loop: 1. Move straight forward 2. Detect the wall with IR sensors 3. Straighten if not perpendicular to the wall 4. Recoil for a user-defined distance 5. Stop 6. Take a picture 7. Process the image 8. Turn left/right/180 + LEDs on 9. Back to point 1
4 Go straight forward: Wheels speed set at a defined maximum speed Stop in front of a wall: Wheels speed set to zero when the front sensors reach a defined threshold value Obstacle avoidance: Using Braitenberg coefficients Straightening when in front of a wall: Slowly turn until the difference between sensors 1 and 6 values is in the interval [25-30] METHOD 1 Time dependent Move back: Inversion of wheels speed for a defined time, then speed is set to zero Turn left/right/180 : Wheels speed set opposite for a defined amount of time, then speed is set to zero METHOD 2 Motor steps dependent Move back: Inversion of wheels speed until a defined number of motor steps is reached Not implemented because of problems in the library. Different motor steps definition into motors.c and motors_timer3.c file (int vs long int) Turn left/right/180 : Wheels speed set opposite until the sum of the angular displacements exceeds a defined angle (90, -90, -180).
5 Piecewise linear transformation with automatic dynamic range: Expands the range of values of the picture Highlights the main peak of the sinusoid
6 METHOD 1 : DFT Main peak of the sinusoid Take the max value of the coefficients between frequency 1 and 33 for both types of FFT computed (sum of rows and sum of columns). Then, if the max value in the selected range of the FFT applied to the sum of columns(rows) is higher than that one of the sum of the rows(columns), the stripes are horizontal(vertical) Main peak of the sinusoid
7 METHOD 2 : DFT Sum of rows vs Sum of columns If the sum of all the coefficients of the FFT made on the sum of rows (columns) is lower than the sum of all the coefficients of the FFT applied to the sum of columns (rows), the stripes are horizontal (vertical)
8 o LEDs really useful to debug the code o Length of the vector required to execute the FFT on e-puck : 64, 128, 256, 512 Since the picture is 40x40, the 24 initial value of the sum of columns and sum of rows are added at the end of each vector in order to have a 64 values. No influence on the decision-process observed o The distance from which the picture is taken has a strong influence on the result in not optimal light conditions. Statistics (not based on the real maze) - 30 attempts per sign Good light condition: 100% success with all road signs Poor light conditions: 95% success with simple road sign (shadow) 70% success with difficult road sign (confused with all-black sign) Decrease in rate of success due to threshold imposed to recognize all-black sign 100% success with all-black sign
9 o Problem in the library significantly slowed down the schedule o E-puck unable to connect to the computer the last day Change from 134 to 66 and recalibration o Better solutions exists to increase efficiency o Great potential of C language to treat and analyze signals and images o Considering all problems and the background from previous courses we are satisfied of our results
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