Vision tracking with Denso robot

The Robocatcher setup uses a simple webcam mounted in the gripper to locate the RC car, and then moves towards it, trying to keep the gripper centered above the car at all times.
The technology used is:
Philips webcam
Computer1 (WinXP) running openCV application with simple hue-based blob-detection
Vision data sent over UDP connection
Computer2 (Slackware) running control application with a second-order point interpolator, PID control loop and the beta Denso bCap Slave-protocol API
Denso RC7M controller and robot

It should be noted that due to a hard deadline, the control parameters have only been subject to very light tuning. Much of the overshoot and oscillations seen in the video can most probably be eliminated with more careful and rigorous tuning.

Category:

Science & Technology

Tags:

• Robot
• vision tracking
• opencv
• denso
• robolab
• syddansk universitet
• sdu
• university of southern denmark

[sonicwavezor]

Hehe - and yes, its an RC car - I think it's from a series called "Auldey Race-Tin".

[ExecutiveTruth]

@sonicwavezor Hey Sonicwave, this is Xanadu, from back in the old IGI 2 days. =) Good to see you are still brilliant and doing amazing things, Mensa =)

[sonicwavezor]

@ExecutiveTruth Hey - been a while! And yea, with no IGI2 to hack around with anymore, it's good they have a lot of robots at my Uni;) Hope you're doing fine too!

[adrianTNT]

I keept asking myself what kind of sensors it uses, but then... shock: how is the small car moving ? :) Very small rc car ? Is nice...

[aurilliance]

hmm link trickyness, replace the comma with a full-stop.

elucidatedbinary,com/misc/joun­ce-velocitys-older-brother

[aurilliance]

Hey! Just letting you know I linked this video on my blog post about position derivatives. You can see it here if you want: