This
year, we have further revised and optimized our Autonomous Vehicle
Intelligence software, and call it AVI 3.0. Our latest revision of
the autonomous vehicle intelligence is designed as a general
solution to controlling automated vehicles, and now works in
conjunction with a dsPIC microcontroller to perform the low-level
input/output and proportional-integral-derivative feedback control
system in a more efficient manner. The main mission control and
optical processing code runs on the OQO Model 01+, which sends
navigational commands to the microcontroller via serial.
Optical Processing
This
year we have added a second camera to our submarine.We use two Creative Lab's Live! Cam Notebook
Pro webcams (VF0250). These communicate over a standard USB bus via a
USB hub, and the video feed is then processed by
RoboRealm computer
vision software. RoboRealm then provides input to our own software
control systems through a socket. The downward-facing camera is used to
detect the path and the blackjack table, while the forward-facing camera
detects the start gate, slot machine, and air duct in conjunction with
the RoboRealm software and various image processing algorithms.
Roborealm
is a free computer vision software that has built in
image processing functions and a robust API for
communicating with other programs. It allows us to focus
on designing filters and techniques rather than
implementing them ourselves.
Copyright 2008 Amador Valley High School Robotics Club
