Service Robotics

  This time we should program a dron to make an area recognition. In this case we are in the ocean an we had recived an emergency call from a sinking ship, we know the last position of that ship. Our mission is to send the robot to that area and look for the people, also the drone must send the positions of the persons that it finds. Im going to divide the resolution if this projects in three parts: 1. Image processing 2. Accident position 3. Movement control 1. Image Processing The drone should be able to detect faces, this can be easy done by a haarcascade. I follow the next  link  to detect faces localy in my computer. Once it was able to detect correctly random images of faces i put as input in the code, it was time to try the same code inside Unibotics. With this the drone could detect some faces but not all. This is becouse the drone was "seeing" faces in random directions, the faces aren't straight when the drone pass above them so he could find faces like: The haa...

  The first challenge of this subject is to implement the vacumm cleaner we did last year but this time with autolocalization. To implement this we are going to use the BSA Algorithm. This is a coverage algorithm which consists in using a mesh to cover all the space. Apparently its really simple, it could be split in 4 steps: 1. Create the map mesh. It will help us to know where the objects are, which are the positions that the robot has visited... 2. The robot movement. All the position visited are marked in the mesh, also we save the positions visited which have unvisited neigbours (this will be our return points). The robot will move in one direction until it finds any object or position visited in front of him.  3. When the robot is stuck becouse he finds an object or visited cell and there is no other free cell around it, we will have to find the nearest return point to our robot and calculate how to reach that point. 4. Once we reach the return point we will be back to t...