S15: Swarm Robots - Revision history

Preet: /* Grading Criteria */

2015-05-27T14:56:17Z

‎Grading Criteria

2015-05-25T07:30:24Z

‎Project Video

2015-05-25T06:18:34Z

‎Team Members & Responsibilities

2015-05-25T06:04:16Z

‎Issue 3 : PWM tuning

2015-05-25T06:03:42Z

‎Issue 3 : PWM tuning

2015-05-25T06:00:50Z

‎Issue 1 : Interfacing Ultrasonic sensor

2015-05-25T05:59:51Z

‎Challenges

2015-05-25T05:55:11Z

‎Communication between robots

2015-05-25T05:54:18Z

‎Detecting and locating robot

2015-05-25T05:52:31Z

‎Detecting and locating robot

← Older revision		Revision as of 14:56, 27 May 2015
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−	~~=== Grading Criteria ===~~
−	~~<font color="green">~~
−	* How well is Software & Hardware Design described?
−	* How well can this report be used to reproduce this project?
−	* Code Quality
−	* Overall Report Quality:
−	** Software Block Diagrams
−	** Hardware Block Diagrams
−	**: Schematic Quality
−	** Quality of technical challenges and solutions adopted.
−	~~</font>~~
−
	== '''Swarm Robots''' ==		== '''Swarm Robots''' ==

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 === Project Video ===
-Upload a video of your project and post the link here.
+https://youtu.be/YMepV2-pIy0
 === Project Source Code ===

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 **   Chinmayi Divakara - Wireless communication and synchronization
 *  Team Member 4
-**   Praveen Prabhakaran - OpenCV co-ordinate mapping. OpenCV and SJone board communication.
+**   Praveen Prabhakaran - OpenCV co-ordinate mapping. OpenCV and SJone board communication. Algorithm to move all the robots towards target upon target detection.
 *  Team Member 5
 **   Tejeshwar Chandra Kamaal - Robot assembly, Motor driver circuit, interfacing ultrasonic sensors and Motors

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 === Issue 3 : PWM tuning ===
 * '''Issue''' - Tuning the dc motors was an important task as the movement of the robot determines the overall functionality of the project. It is interlinked to other parts of the project. All the robots had to be tuned individually, which is a time consuming task.
-* '''Advice''' - Use high precision motors
+* '''Advice''' - Use high precision motors to reduce the time factor.
 === Issue 4 : Communicating between openCV and SJOne board ===

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 === Issue 3 : PWM tuning ===
 * '''Issue''' - Tuning the dc motors was an important task as the movement of the robot determines the overall functionality of the project. It is interlinked to other parts of the project. All the robots had to be tuned individually, which is a time consuming task.
-* '''Advice''' - Implement PID with the help of a wheel encoder.
+* '''Advice''' - Use high precision motors
 === Issue 4 : Communicating between openCV and SJOne board ===

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 === Issue 1 : Interfacing Ultrasonic sensor ===
-* '''Details''' - Initially we were trying to use polling method to detect the falling edge of the echo signal on the micro-controller pin. This method seemed rather difficult to capture the edge on the pin. With further testing and debugging, later it was found the ultrasonic sensor trigger pin was damaged and hence the sensor operation wasn't on the expected lines.
+* '''Details''' - Initially we were trying to use polling method to detect the falling edge of the echo signal on the micro-controller pin. This method seemed rather difficult to capture the edge on the pin. With further testing and debugging, later it was found that the ultrasonic sensor trigger pin was damaged and hence the sensor operation wasn't on the expected lines.
 * '''Solution''' - Ultrasonic sensor was replaced and approach was also changed from polling method to external interrupt method on the micro-controller pin. This provided the results on expected lines.
 * '''Advice''' - First check with multiple hardware for expected working. If this fails, then check with software logic once.

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 === Challenges ===
 Integrating all the modules to form a complete project is always a challenging task. Integrating one module at a time, testing the same and solving the issues was tedious.
 === Issue 1 : Interfacing Ultrasonic sensor ===

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 ====Communication between robots====
-Each robot has unique ID, this is utilized to communicate with a particular robot. The data between robots is exchanged with the help of inbuilt wireless module written by Preet. Queues and Mutex are utilized at this point of time. Queues are used to communicate the co-ordinates of robots between the tasks. Mutex is used to lock the access of robot co-ordinates to one task.
+Each robot has unique ID, this is utilized to communicate with a particular robot. The data between robots is exchanged with the help of inbuilt wireless module API written by Preet. Queues and Mutex are utilized at this point of time. Queues are used to communicate the co-ordinates of robots between the tasks. Mutex is used to lock the access of robot co-ordinates to one task.
 ====Communicating locations to robots====

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 '''Detection of robot''' : Each robot is of a different color. This will help in differentiating the robots from one another. Images from the camera are captured every 30 millisecond, these images obtained will be in RGB format which is converted to HSV format. The converted image is then filtered. Hue(H), Saturation(S) and Value(V) are different for different color, hence the image can be filtered by defining the range for each color. The filtered image is then processed to remove noise.
-'''Location of robot''' : Each filtered image contains only one object, the outline of the object is found out and checked if the area is more than threshold. If the area is less than the threshold, then it is discarded as noise. The spatial coordinates of the outlined image is found out which gives the position of the robot.
+'''Location of robot''' : Each filtered image contains only one object, the outline of the object is found out and checked if the area is more than threshold. If the area is less than the threshold, then it is discarded as noise. The spatial coordinates of the outlined image is found out which gives the location of the robot.
 ====Communication between robots====

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 ====Detecting and locating robot====
-This is achieved with the help of an overhead wireless camera. Each robot will be updated with its present location. Since the robots are run in a closed environment, it is difficult to get accurate locations from GPS. Hence a camera is used in replacement of GPS.
+This is achieved with the help of an overhead wireless camera. Each robot will be updated with its present location. Since the robots are made to run in a closed environment, it is difficult to get accurate locations from GPS. Hence a camera is used as a replacement of GPS.
 '''Detection of robot''' : Each robot is of a different color. This will help in differentiating the robots from one another. Images from the camera are captured every 30 millisecond, these images obtained will be in RGB format which is converted to HSV format. The converted image is then filtered. Hue(H), Saturation(S) and Value(V) are different for different color, hence the image can be filtered by defining the range for each color. The filtered image is then processed to remove noise.