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Tracking control of a vehicle by the eye movement


Department of Electrical Engineering, Electronics and Compuring
Universidad Nacional de Colombia - Sede Manizales
Professor: Oscar Cardona Morales
Grade: Digital signal processing
Jacobo Bastidas Cod:811505
Juan David Giraldo Cod:813027
Julian Alexis Quintero Cod:810060

I. INTRODUCTION

The different mechanical systems of movement may have a


margin of error to establish the place where you want situate
any element either by long distances or absence of perception
of the place.
In the following text will be observed a system created like an
alternative for the tracking control on vehicles, or for optimize
accuracy of industrial machinery and scientific instruments.
The project idea can minimize of margin of error placing any
element where you want to stay it.
During of development of this project will be implemented
an application for moving vehicles at low speed and short
distances using the eye tracking, a device that allows monitoring and recording the tracks which are generated by the
eyes(look) of a person on a computer screen.

2 Gearmotors 1,5Kg force, 200RPM 9 VDC


2 tires for gearmotors
2 bluetooth module HC06
8 jumpers
Protoboard
utp cable for connection
Battery 9 VDC
IV. EXPERIMENTAL FRAMEWORK

A. Step by Step

II. THEORETICAL FRAMEWORK


A. Eye tracking

The construction of a test vehicle is implemented to


verify the operation of the Bluetooth device and his
communication. function Bluetooth devices will send the
data emitted from the eye tracker (previously interpreted
in matlab) and receive the information for send this to
the system arduino and perform the operation movement
according to the received data

Eye tracking is the process of measuring either the point


where one is looking or the motion of an eye or both eyes.
For this, it uses a device call eye tracker which is a device
for measuring eye positions and his movement. the "eye
tracker" is a device of tracking changes of position and
movements of the pupil.
It consists of a video camera high resolution and infrared
LEDs situated at the corners of the device The system
supports casual head movements, and provides a distractionfree test environment that ensures natural behaviour, and
therefore valid results. Accuracy is achievable within the
range of 0.5 to 1 degree, ensuring reliable research results1 .
The device is calibrated with the system Eye Tribeto check
the operation of the device, after calibration, the system is
operated to realize eye movement operations to collect data
and be displayed; the data obtain by the eye tracker can
identify the position of the eyes and make the decision of the
observed position; that is the address(position) where being
observed.
III. ITEMS

1 H-Bridge L296D
1 eye tracking
2 Arduino UNO R3

Figure 1. test vehicle

The eye tracking device is calibrated for verify his working, depending on the system, focal distance between the
eye tracker and user, and its scope (operating range),
later the data obtained are processed in matlab with an
algorithm to obtain the position (x, y) of the screen and
know the position where being observed, each position
(x, y) change depending on the screen resolution

Figure 2. eye tracker

Figure 6. focal distance

the distance between the user and the eye tracker device
should not exceed 1 meter.
before executing the development of display eye
tracker it was necessary to establish a range of 6 points
on the screen, which are defined in (x, y) just like that:
1.
2.
3.
4.
5.
6.

Figure 3. the eye tribe program

The eye tribe program show in real-time the eye movement made by the user

Lower right - send 1


Middle right - send 2
Up (middle up, upper right, upper left) - send 5
Middle left - sent 4
Lower left - send 3
Out of range or the user ist watch the screen - send 0

Figure 4. eye tribe error

If the range of vision change, the system show this error

Figure 7. points on screen

.
these data make the vehicle move with a sensibility
according to where you look on the screen

Data is input to arduinos program to effect movement,


these data are the number (0, 1, 2, 3, 4, 5) previously
defined. The system used to perform the algorithm is
known as arduino sketck, its the unit of code that
is uploaded to and run on an Arduino board and its
uses its own language compilation and based on known
techniques such as c compilations. At first, arduino
programming is focused to use in mobile devices,
especially in cell-phones.

An algorithm is built in matlab to initiate communication


between the arduino, bluetooth device and eye tracking to

Figure 5. operating range

Positions (x, y) acquired change depenging on fps on the


compute, are of 1080p , 720p, or another; where you
can change from the "eye tribe" the number of points
(9, 12, 16), a broader sampling time for a more efficient
calibration and actions execute by the vehicle are more
accurate

effect Tracking control of a vehicle by the eye movement.

The comunication between devices is executed. The


computer will send the data obtain by the eye tracker
to the bluetooth device. The transmission is performed
between the bluetooth devices used, one of them use
the Bluetooth master(host) module configuration and
the other use the Bluetooth slave module settings, then
the arduino receive the data and execute the movement
(action)
The performance of the vehicle is tested. the test is
performed with the system running in real time, possibly
presenting a small delay depending on the distance at
which the device is operating, with the eye tracker looks
at the place where you want to move the vehicle and the
movement is executed

B. Results Obtained
The results of the project development were determined
according to the operations made and the items used.
Data is sent from matlab generated by the eye tracker to
created a matrix of information of dimension (x,y) performing
a cycle for to check his size. the matriz is keep in an
vector with position (x,y). When te information is saved, its
is sent by serial cable to the arduino which analize the data
depending on where you look, for example, if you look up,
the vehicle will go ahead, if you look to the right, the vehicle
will go to the right and so successively, generating, as a first
step, the vehicle moves to the desired position .
C. Results Expected
It is a project that works wirelessly, the following results
are expected:
The eye tracker create information about the place
where the user is looking, then these data are encoded by the
algorithm built in matlab based cycles for to interpret the
information and turn it into a position vector, that position
show the place which the user was observed, data is save.
Data saved is sent from the matlab to the bluetooth module
wirelessly(bluetooth), witch its is interpreted by the arduino,
analize the data depending on where you look and then the
vehicle execute the movement to the desired location.
V. CONCLUSIONS

The eye tracking system can saturates the state of the


device when sending large amounts of data when you
observed different points on screen.
The system has disadvantages when the data transmission
is executed, because the bluetooth model is slave, for an
optimal performance is necessary an master-slave model.
The bluetooth communication is a good implement for
development of new applications because it can simplify

state of implementation to the projects to acquire data


signals wirelessly.
R EFERENCES
[1]
[2]
[3]
[4]
[5]
[6]

http://www.diku.dk/~panic/eyegaze/node27.html
digital signal processing using matlab 3rd edition - Ingle, proakis
https://github.com/esdalmaijer/EyeTribe-Toolbox-for-Matlab
1 http://www.microway.com.au/catalog/mirametrix/products.php
http://dev.theeyetribe.com/general/
http://dev.theeyetribe.com/start/

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