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.
Video Rating: 4 / 5