Processing Pipeline

Notes:
1. The first module "Button_Interface" provides a simple Start and Stop button interface to easily control the robot and reset waypoints. This interface will popup immediately once this robofile is loaded.
2. The "Set robot_orientation = ..." is used to rename generated variables to other names so that they will not be overwritten by utilizing the same module again.
3. The IF statement controls when the waypoints are regenerated. This is linked to the 2nd Reset button in the Button_Interface module.
4. The Math module is used to merge back the green triangle over the original image. We noticed the triangle would sometimes disappear based on the lighting of the arena. This helped us keep an eye on how that segmentation was working as the robot moves.

Video

(2.3 MB) Video of the BoeBot moving through each of the waypoints as seen from the overhead camera.

(2.1 MB) Different starting location and 3 point light source.

Your turn ...

Download the Path Planning robofile. Note that the Parallax module (last module) is disabled as you will need to configure that module for your COM port before enabling (to enable simply unpress the Disable button when that module is selected in the pipeline list). Also note that the red markers are only processed once when the reset button is pressed as it is assumed that the markers remain stationary during the robot operation.

The End

That's all folks. We hope you've enjoyed this little adventure into an application of machine vision processing and have inspired you to download a free trial of our software.

If you have any questions or comments about this tutorial please feel free to contact us.

Have a nice day!