This is Bradley University's entry in the 2013 AUVSI Roboboat competition. This video is the boat's perspective of our first qualifying run Saturday, which got us into Sunday's finals. Read the minute-by-minute below to better understand what is happening.
More info on the team: http://cegt201.bradley.edu/projects/p...
Information on the NASTI from the above website is outdated. The boat underwent massive structural changes the few weeks between the website's writing and the competition.
What you're watching:
[0:00 - 2:00]
The NASTI is leaving the dock and navigating the buoy channel. Yellow buoys are obstacles and are supposed to be avoided. We only use a $20 webcam here. Colored circles are the boat recognizing buoys, the white line is the gate its trying to pass through, the blue is our target destination for the frame, and the yellow line is our target destination after going through a rolling average.
[2:00 - 3:30]
The blue buoy marking the end of the channel is sighted. The GPS and compass are used to navigate to the hoops.
[3:30 - 5:30]
The NASTI is trying to align with hula hoops and fire nerf darts through each of them. The camera is searching for vertical lines (red lines), and if they look like they could be the poles for hoops it starts tracking them (green objects). The blue lines are targets for the frame, bright yellow lines are targets after the average, and the dark yellow line is the path we're following. The boat is trying to minimize the size of the dark yellow line. The drawing stops when we drift away from the challenge and have to move back in. 5 darts were fired, all a few inches higher than the hoops because the gun wasn't lowered.
[5:30 - 6:20]
GPS navigation to the capture the flag challenge. Also, a long time spent turning to face the right way.
[6:20 - 9:00]
The boat is trying to grab the blue flag off a small purple RC-boat. The flag pincers can be seen in the very bottom of the frame. This was the first time testing this challenge, so we still had a lot of noise in the purple detection algorithm. The RC boat was also much much faster than our boat, but we did manage to track it while it was in the frame the first time.
[9:00 - 9:45]
GPS-based navigation to the sprinkler challenge, and turning around.
[9:45 - 10:15]
One of the buttons at the challenge activates a sprinkler, and the goal is to press it. The boat has a rear facing camera and a wooden ramming grate for pressing the buttons. It is looking for the red circle around the button. When it finds it and is aligned, the last detected circle hangs on the frame while it rams. This was only our 2nd time testing this challenge, our ram doesn't come close.
[10:15 - 11:00]
The boat drifts away from the challenge and starts to use its GPS to return. Since the GPS is forward facing navigation, it turns around to move in and then turns around again to try and ram the second button.
[11:00 - 11:15]
The boat is tracking the buttons, but it runs out of time for the challenge and starts going home.
[11:15 - 12:20]
The NASTI is navigating to the last GPS coordinate it has when it finished the channel. You might notice some interesting software 'features' here, such as the boat appears to be moving in reverse. This is because the rear facing camera is still active, and the front one hasn't been switched on.
[12:20 - 13:15]
The boat starts navigating the channel home. Its already 2 buoy gates into the channel before it starts using the camera. This is because the last 2 gates weren't detected when leaving the channel, and the GPS return coordinate was marked early. The NASTI makes a good attempt at coming home with the wrong camera, but it really doesn't stand a chance. Eventually it starts moving away and we start the RC to bring it home. Spectators watch in awe.
Come Sail Away - Styx
Sloop John B - The Beach Boys
Crystal Ship - The Doors
The Wreck of the Edmund Fitzgerald - Gordon Lightfoot