Advisers:
Dr. Sudipto Mukherjee
Dr. H. Karnick
Abstract
A Vision Guided Vehicle called, the Moving Platform has been implemented in the present work. The activities of a mobile robot such as perception, planning and control, and actuation are to some extent implemented on this Platform.
The hardware of the Mobile Platform consists of two rear wheels powered by D.C. motors and a front passive wheel (caster). These motors are connected to a driver board, an electronic circuit for controlling motors, which is in turn connected to a P.C. through its printer port. A program has been developed for controlling the two motors independently.
A path planning program implemented for a rectangular workspace with two polygonal obstacles. Given the start position of the Platform and required goal position this program gives an allowable path containing a set of straight lines.
Feed back of configuration of the Platform, in real time, is established by taking images of workspace by a C.C.D. camera, connected to a second P.C. Serial Port communication has been used for transferring data between computers. A program has been implemented to establish the feed back and to transfer the data through the serial port.
A program which integrates all the above mentioned programs together has been implemented successfully, leading to a demonstrable model of a vision guided system.