ball following robot using matlab

[magnatro]

it's a combo of matlab and arduino...
very simple image processing application..

mail me @ magnatronelectronics@gmail.com

 

[blueroomelectronics]

Why not just post it as a file attachment.

 

[magnatro]

clear;
clc % Clearing Matlab desktop
vid=videoinput('winvideo',1,'RGB24_640X480'); % Defining the video input object
set(vid,'FramesPerTrigger',1); % Setting frames per trigger
preview(vid); %////// Showing the video of the moving Ball(TO BE USED %
% WHILE TESTING)
pause(10);% Waiting for a certain time for the system to get initialised
rgb_image = getsnapshot(vid); % Storing Image in an array variable
[a b c]= size(rgb_image); % Determining the size of the captured frame.
y=a;
x=b;


% Defining Boundaries
x1=x/2-120;
x2=x/2+120;
y1=y/2-30;
y2=y/2+30;
ser=serial('COM34'); % Defining the specified COM Port to be used
fopen(ser); % starting serial Communication,opening serial port

while(1)
rgb_image = getsnapshot(vid); % storing image in an array variable
flushdata(vid); %Flushing the buffer
rbar=0;
cbar=0;
e=0;
fR=rgb_image,:,1);fG=rgb_image,:,2);fB=rgb_image,:,3);% Storing RGB components of the image in seperate arrays
I=((fR<=70) & (fG>=80) & (fB<=70)); % Converting the RGB Image into binary image///Detecting only the red component
% Following are the steps For Detecting the red ball
se=strel('disk',20);
B=imopen(I,se);
final=imclose(B,se);
[L,n]=bwlabel(final);
%imshow(rgb_image); %////THIS IS TO BE USED ONLY WHILE TESTING
%hold on % ////THIS IS TO BE USED ONLY WHILE TESTING
for k=1:n
[r,c]=find(L==k);
rbar=mean(r);
cbar=mean(c);
%plot(cbar,rbar,'Marker','*','MarkerEdgeColor','B','MarkerSize',20) %////THIS IS TO BE USED ONLY WHILE TESTING
e=(((cbar>=x1)*2*2*2) + ((cbar<=x2)*2*2) + ((rbar>=y1)*2) + (rbar<=y2)) % Converting to decimal number
end
% Decision Making Conditions
switch (e)
case 5
disp('Move left'),fprintf(ser,'L');
case 6
disp('Move left'),fprintf(ser,'L');
case 7
disp('Move left'),fprintf(ser,'L');
case 9
disp('Move right'),fprintf(ser,'R');
case 10
disp('Move right'),fprintf(ser,'R');
case 11
disp('Move right'),fprintf(ser,'R');
case 13
disp('Move forward'),fprintf(ser,'F');
case 14
disp('Move back'),fprintf(ser,'B');
otherwise
disp('Stop Moving'),fprintf(ser,'S');
end
end
fclose(ser); % closing serial port

 

[Vizier87]

Let me help you organize that:

clear;
clc % Clearing Matlab desktop
vid=videoinput('winvideo',1,'RGB24_640X480'); % Defining the video input object
set(vid,'FramesPerTrigger',1); % Setting frames per trigger
preview(vid); %////// Showing the video of the moving Ball(TO BE USED %
% WHILE TESTING)
pause(10);% Waiting for a certain time for the system to get initialised
rgb_image = getsnapshot(vid); % Storing Image in an array variable
[a b c]= size(rgb_image); % Determining the size of the captured frame.
y=a;
x=b;


% Defining Boundaries
x1=x/2-120;
x2=x/2+120;
y1=y/2-30;
y2=y/2+30;
ser=serial('COM34'); % Defining the specified COM Port to be used
fopen(ser); % starting serial Communication,opening serial port

while(1)
rgb_image = getsnapshot(vid); % storing image in an array variable
flushdata(vid); %Flushing the buffer
rbar=0;
cbar=0;
e=0;
fR=rgb_image(:,:,1);fG=rgb_image(:,:,2);fB=rgb_ima ge(:,:,3);% Storing RGB components of the image in seperate arrays
I=((fR<=70) & (fG>=80) & (fB<=70)); % Converting the RGB Image into binary image///Detecting only the red component
% Following are the steps For Detecting the red ball
se=strel('disk',20);
B=imopen(I,se);
final=imclose(B,se);
[L,n]=bwlabel(final);
%imshow(rgb_image); %////THIS IS TO BE USED ONLY WHILE TESTING
%hold on % ////THIS IS TO BE USED ONLY WHILE TESTING
for k=1:n
[r,c]=find(L==k);
rbar=mean(r);
cbar=mean(c);
%plot(cbar,rbar,'Marker','*','MarkerEdgeColor','B' ,'MarkerSize',20) %////THIS IS TO BE USED ONLY WHILE TESTING
e=(((cbar>=x1)*2*2*2) + ((cbar<=x2)*2*2) + ((rbar>=y1)*2) + (rbar<=y2)) % Converting to decimal number
end
% Decision Making Conditions
switch (e)
case 5
disp('Move left'),fprintf(ser,'L');
case 6
disp('Move left'),fprintf(ser,'L');
case 7
disp('Move left'),fprintf(ser,'L');
case 9
disp('Move right'),fprintf(ser,'R');
case 10
disp('Move right'),fprintf(ser,'R');
case 11
disp('Move right'),fprintf(ser,'R');
case 13
disp('Move forward'),fprintf(ser,'F');
case 14
disp('Move back'),fprintf(ser,'B');
otherwise
disp('Stop Moving'),fprintf(ser,'S');
end
end
fclose(ser); % closing serial port

 

[harikiran]

Sir,can you please give a detailed report of the project including the microcontroller program in C please i'm stuck with it and thank u in advance

 

[s.nimse]

sir, i run this code in matlab by setting resolution. but it only diplay 'stop moving' on command window. how i will run that?

i didnt understand color thresholding command use in that program and how will you calculated value of e ?

 

[anwar]

i have to do design robot using cmucam2 along with the pic microcontroler to trace an identify object (for example red ball ). can you please help me to find the source code of both the cmucam and the pic ? i am not good in programing i only know about hardware ..