Ball Tracking Robot

• Main Author: TAN, YENG LEE
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi PETRONAS 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/9539/1/2011%20Bachelor%20-%20Bal%20Tracking%20Robot.pdf; http://utpedia.utp.edu.my/9539/

Ball Tracking Robot is a project covering robotic, computer vision and image processing, microcontroller, and data communication. It is programmed in such a way that web camera will detect both ball and robot in the field, analyzing and determining the position ofthe ball with reference to the robot, where this information will be transmitted to the microcontroller. Microcontroller will receive the data and the robot will move towards the location of the ball. The objective of this project is to apply knowledge learnt in image processing and microcontroller courses into practical. By using Matlab software, image captured by webcam will be analyzed and the ball and robot will be detected. Next, vector between ball and robot will be processed to determine the position of the ball with reference to the robot. Finally, output data will be transmitted to the microprocessor to guide the robot towards the ball. For image processing part, HSI colour detection is applied to differentiate the targeted colour object from the surrounding. Since we are dealing with vector and direction, robot head position is vital for precise robot movement. For wireless data transmission, parallel data radio frequency (RF) wireless transmission model is used as medium for data to be transmitted from transmitter toreceiver located on the robot. Microcontroller is programmed in the way that it will response to the data received and direct the robot to move towards the ball.