report9 - A Wireless Rover With External Video Feedback...

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Unformatted text preview: A Wireless Rover With External Video Feedback Control 7 June 2004 Daniel J. Gibson Joanne Mikkelson A design is presented for a wireless rover with a remote guidance system based on video feedback from an external camera. The design is modular at several nested levels and includes multiple FSMs. It was implemented using a combination of Verilog compiled to FPGAs and a wireless system with a microprocessor on the mobile side. Simulation at all levels from the smallest units to the two major subsystems resulted in predictable behavior of the hardware, at least to the degree that the hardware specifications were known. Better results were obtained by supplying additional detail in the Verilog code, rather than relying on the compiler to make the intended interpretations. The peripheral hardware presented surprising difficulties, notably noise and nonuniformity in the analog video signal and insufficient mechanical power in the wheel motors to drive the rover after adding custom hardware. Contents 1 Overview 1 2 Video Analysis System (By Daniel J. Gibson) 1 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2.2 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.2.1 Frame Capture & Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.2.2 Error Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.3 Testing and Debugging Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Car Control System (By Joanne Mikkelson) 6 3.1 Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.1.1 Control Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.1.2 Car Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.2 Implementation and Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 A Appendix: Check-off Sheet 11 B Appendix: Handcrafted Test Data for Simulation 12 C Appendix: Analog to Digital Video Converter 13 D Appendix: Video Sampler FSM 14 E Appendix: Cross Product Computation of Azimuth Error 15 F Appendix: Wireless Control FSM 16 G Appendix: Car-side Wireless Board Code 17 i List of Figures 1 Video Analysis System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 Determination of Position from Pixel Count Histograms . . . . . . . . . . . . . . . . 2 3 Position Analyzer FSM State Transition Diagram . . . . . . . . . . . . . . . . . . . . 4 4 Two parts of the Car Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 5 Detailed block diagram of Car Control . . . . . . . . . . . . . . . . . . . . . . . . . . 7 6 FSM for the movement controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 7 Simulation of three video frames, odd fields only . . . . . . . . . . . . . . . . . . . . 12Simulation of three video frames, odd fields only ....
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This note was uploaded on 07/21/2009 for the course EECS 6.111 taught by Professor Prof.ananthachandrakasan during the Spring '04 term at MIT.

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report9 - A Wireless Rover With External Video Feedback...

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