Embedded Systems: An Integrated Approach by Pearson

ACADEMIC PROJECTS 671

19.1.18 | Implementation of the Robots

19.1.18.1 | Ball Following Robot Connected to a PC

Softw

are Implementation

We wrote a program in MATLAB which did the following things:

i) Take data from the on-board camera which was connected to the PC using USB port.

ii) Process the image to detect the pixels corresponding to any particular colour (RED)

using the Euclidean distance method.

iii) Find the centroid of all such pixels.

iv) Compute the deviation of the centroid of the target from the centre of the camera

frame.

Using this code, we also performed a simulation of the actual intended motion of

the robot. Refer Figure ...