Wheelphone blob docking

The Wheelphone robot has the opportunity to charge itself automatically with the help of the docking station.

This application is an example of using blob detection and ground sensors to let the robot reach the docking station and charge itself.

There are two tabs: one illustrates some sensors value, the current state of the robot and some others information, the second one let the user choose which color to follow, that must reflect the docking station target color.

The application is designed for the following sequence:

1) choose the color of the blob to follow

2) the robot move around looking for the docking station

3) once a blob is detected the robot starts going towards it

4) when the black line (going to the charging contacts) is detected, follow

it until the contact is fully accomplished

Blob detection is performed using the OpenCV library.

More information about this application, how to use it and the source code are available in the Wheelphone wiki http://www.gctronic.com/doc/index.php/Android_software#Wheelphone_blob_docking.

[Autonomous docking group]