A microcontroller-based target- locking robotic head using color tracking

Date

3-2008

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Nelio C. Altoveros

Abstract

A P1C16F876 microcontroller-based target-locking robotic head using the CMUcam2 vision sensor was constructed. The study aims to program the robot to track an object using the color tracking functionalities of the CMUcam2 vision sensor. The PIC 16F876 microcontroller communicates with the CMUcam2 sensor and instructs the camera by sending serial commands over the serial port. The camera return packets are then used for tracking an object and the values are displayed on the Liquid Crystal Display. The robot also has user intervention capability by providing push button switches that trigger the robot to reset and to initiate object-tracking. The overall performance of the robot was evaluated by conducting test on the accuracy of the sensor on tracking the centroid of the object and its ability on detecting color over longer distances. The three additive primary colors Red, Green and Blue were the main test objects employed in the study. It was represented by three highly colored plastic balls of the same sizes and texture. The result obtained from the centroid accuracy test was consistent with the normalized spectrum response of the CMUcam2 vision sensor.

Language

English

Location

UPLB Main Library Special Collections Section (USCS)

Call Number

Thesis

Document Type

Thesis

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