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Unmanned Maze Solver

Unmanned Maze Solver . Using aerial image processing and wireless connectivity to direct a robot through a maze. . Nicholas Hoover Matthew Mitrik Edward Waxler. Overview. Aerial camera views terrain below (maze) Converts image into symbolic form Finds path through the terrain (maze)

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Unmanned Maze Solver

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  1. Unmanned Maze Solver Using aerial image processing and wireless connectivity to direct a robot through a maze. Nicholas Hoover Matthew Mitrik Edward Waxler

  2. Overview • Aerial camera views terrain below (maze) • Converts image into symbolic form • Finds path through the terrain (maze) • Communicates path wirelessly to unmanned vehicle (robot) • Vehicle follows given path

  3. Major System Components • Maze • Base Station (camera, PC, wireless node) • Robot

  4. Maze Tile Templates • Tile templates can be used to reconfigure a maze on the fly

  5. Image Capturing • Sony EVI-D100 • Osprey-210 Analog Capture Card • Up to 30 frames/sec

  6. Image Processing • Intel OpenCV • Image Filtering • Template Matching

  7. Maze Before & After Extraction • Dijkstra’s shortest path algorithm will be used to solve the maze

  8. Graphical User Interface

  9. Communication Network • Two nodes • Base station • Robot • Mica2 Motes • Two-way reliable communication

  10. Mica2 Motes • Compact • Low-power • Integrated solution

  11. Packet Format

  12. Robot

  13. Robot Block Diagram

  14. Messaging Protocol

  15. Project Milestones

  16. Bill of Materials

  17. Bill of Materials II

  18. Questions? ???

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