Implementation of Digital Image Processing Using NI myRIO and Arduino Mega 2560 as Controller On Rover Bogie Robot

摘要

The need for exploration of a place or area is sometimes necessary for research, documentation or special purpose in that area. It is like researching animal life in the forest, documenting historical sites or searching for the victim because of a natural disaster and an area with a difficult terrain. However, in some such places, there are many possible dangers if we send humans to carry out exploratory missions. The realization involves making a simulation of the system, designing the software, designing the physical system mechanically and electrically and finally implementing the controller to an NI myRIO hardware platform and Arduino Mega 2560. This research will design a rover robot to explore in various places that have a variety of terrain characteristic. Rover robot is designed with passive suspension rocker-bogie system. With this system, the robot can go through a variety of heavy terrain, a hill, sandy terrain and unstable terrain with a certain height. An algorithm is created to process the images or video that captured by the camera. The controller is implemented using LabVIEW myRIO 2016 SP2 development environment. Arduino will control the rover bogie motion using velocity reference inputs via a joystick. The realization of this project is successful, however further testing and dynamics analysis is needed in order to control the robot and image processing optimally.