Project report on

Image Guided Robot Using

Firebird V

Prepared for the subject:

Robotics: Advanced Concepts and Analysis

Prepared by:

Akash Patel- 1411MT08

Priteem Ranjan Behera-1411MT09

Objective

The objective of the project was to use Firebird V and make a robot such that it follows a particular image.

Approach

For this purpose we choose an Orange colored ball so that the robot follows it wherever we take the ball.

Apparatus used

1. Firebird V 2. PC(running Windows)3. Camera pod with servos4. Video receiver device5. TV tuner6. Ball (orange colored)7. Serial cable and power supply adapters

Software used:1. Matlab® (with image acquisition toolbox)2. AVR Studio® 3. AVR Bootloader®

Firebird V

Servo Motor

Wireless Camera

Video Receiver

TV Tuner

Serial Cable

Setup The camera along with the servo motors for pan and tilt motion was

mounted on Firebird V. The video receiver and TV tuner were connected to the PC for image

acquisition. Firebird V was connected to the PC through a serial cable for

communication between the two.

Figure showing the setup

Camera Video receiver

PC(running Matlab)(Image

processing)

Microcontroller

Servo of Firebird and

Camera

Object at the center of image

MovingObject

Flow Chart

Following is the flow chart showing the image processing, decision making and robot motion.

Wireless transmission

Serial cable

Servo action

Decision making

Procedure

After the setup, program was loaded in the processor of Firebird V. Then, the ball was held in front of the camera. The image was sent to the PC using the TV tuner and Video receiver. The image was then processed in Matlab and decision was taken

accordingly.

Image processing:

Decision making:

The captured image was divided into number of segments. Depending on the centroid of the detected image decision was taken.

Captured

Filtering and

Adjusting

Filtered image Detected imageFigure showing image

processing

Left Up Center UP Right Up

Center Left Center Center Right

Left Down Center Down Right Down

The robot was programmed such that it always tries to keep the ball at the “Center”.

Depending the position, the up and down movement was provided by the tilt servo of the camera and left-right by the robot wheels.

A threshold area of the pixels of the ball was decided while writing the program.

If the area occupied by the pixels of the ball is more than that it meant that the ball is nearer. So the robot moved backwards in order to maintain the set value of the area. Similar thing happens if the area is smaller than threshold value.

Conclusion

The robot successfully followed the image (ball, in this case) providing forward, backward, left and right motion by the wheels and up and down motion by camera tilt.

Segmenting the captured image