This is code for a mobile robot running on a RaspberryPi. It is a two wheeled robot with a omnidirectional whel for stability. It is equipped with a colour camera and an ultrasonic distance sensor.
The camera is used to find a red (configurable) ball. The robot will follow the red ball until it reaches it or looses sight of the ball. If the ball is lost it will drive in a random direction until reaching a wall, then pick a new random direction and drive. It will do this until it find the ball again.
The robot code is written in Python and uses a simple state machine to manage the behaviours. ZMQ is used to separate the image processing from the robot behaviour. OpenCV is used to find the ball in the camera feed.
Here is a video from early on in development, before attaching most senors. I am remote controlling it from my laptop.
