8Bot

Autonomous Pool Robot using Computer Vision

By: Atif Mahmud and Ethan Guo

Background and Motivation • Procedures • Related Works • Learning Goals • Engineering Goals • License

Background and Motivation

Procedures

Dependencies

Python Libraries

The projects primary language is python. Input parsing, computer vision, and pathfinding are executed by python clients. The OpenCV-Python wrapper is used along with Numpy to do the various computer vision and matrix operations this project employs.

Install Python-OpenCV

sudo apt-get install python-opencv

Install Pip

sudo apt-get install python-pip

Install Numpy

pip install numpy

MQTT Broker

This project relies on low latency publisher/subscriber based data transfer. To do this we employ MQTT. MQTT (Message Queuing Telemetry Transport) is an ISO Standard messaging protocol commonly used in IOT applications. The one caveat is that its publish/subscriber message pattern requires a persistent broker. For the purposes of this project we employ the open source MQTT broker Eclipse Mosquitto.

Install Broker (Ubuntu)

(Ubuntu 12^)

sudo apt install mosquitto

(Older versions of Ubuntu)

sudo apt-add-repository ppa:mosquitto-dev/mosquitto-ppa
sudo apt-get update

Install Python MQTT Client Library

pip install paho-mqtt

Learning Goals

• Continuous Integration
• MQTT Protocol

Engineering Goals

• Fast robot messaging infrastructure
• Robust object classification
• Robust environment description
• Robust localization

Related Works

License

GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007

Refer to LICENSE.txt for full details