Sharon Beynon [341217967]

Abstract:

This thesis describes the development of vision processing hardware designed for the implementation of a maze-solving algorithm developed in the previous year. Through a working hardware system, the thesis intends to show that it is possible to use machin e vision on a mobile Micromouse.

It is proposed that maze solving can be achieved in real time, on a low powered hardware system suitable for an autonomous mobile robot. A hardware solution will be developed, with an ultimate goal of creating a generic system to be used for any processo r intensive, low-power mobile robot requirement.

The approach to a design solution was developed through examining similar hardware solutions. Then applying the constraints brought about by the size of the software and the processing and floating point intensity of the algorithm of the previous year.

A DSP based solution with related image acquisition hardware will be assembled and tested. The vision algorithm will be ported to this software and the performance will be tested. This result will show that inexpensive machine vision is possible for a lig htweight, highly mobile, autonomous robot system.

Finally, the thesis summarises the achievements and performance of the hardware prototype. Further improvements and extensions to the project are suggested.