X96 Autonomous Robot Proposal Presentation Monday, February 16, 2004 By John Budinger Francisco...

x96 Autonomous Robot

Proposal Presentation

Monday, February 16, 2004

By

John Budinger

Francisco Otibar


Introduction

• Started in Spring 2003

• Gain experience with robots

• Engage in a fun and challenging project

• Different type of project (not too different)


Proposals

• Autonomous Robot

• Sensor Subsystem

• Artificial Intelligence

• Robot and Communications

Questions or Comments and Answers


Autonomous Robot


Autonomous Robot

• Soccer robot

• Composed of 3 main subsystems

• Design software and hardware

• Combine all subsystems successfully

computer

sensorsrobotCOMM

AI


Sensor Subsystem


Sensor Subsystem

• Camera and vision program

• Color, fast, low cost

• Custom versus Commercial


Sensor Subsystem

• Camera will collect data during play

• Provide information for AI

• Green field

• White borders/boundaries

• Orange golf ball

• Robot w/ mostly black top


Sensor Subsystem

• Custom solution

• Logitech Messenger QuickCam

• Logitech QuickCam SDK

• Visual C++ 6.0

• Global Vision

• TRIPOD by Prof. Paul Oh

• DevIL for processing


Sensor Subsystem

• Image Capture

QuickCam drivers and SDK

RGB image

160x120 to 640x480 pixels


Sensor Subsystem

• Image Capture

• Color Dectection

Homogenized

RGB to HSL conversion

if((pixelColor > MIN_COLOR_VALUE) &&

(pixelColor < MAX_COLOR_VALUE))

pixelColor = COLOR_VALUE;


Sensor Subsystem

• Image Capture


• Image Filter

Remove noise

if(size(blob) < MIN_OBJECT_SIZE)

remove(blob);


Sensor Subsystem

• Image Capture


• Image Filter

• Object Detection

Finds and labels valid objects

if((size(blob) == size(OBJECT)) &&

(color(blob) == color(OBJECT))

label(blob) = label(OBJECT);

Ball


Sensor Subsystem

• Image Capture


• Image Filter


• Object Position

Center of mass


Sensor Subsystem

• Image Capture


• Image Filter


• Object Position

• Object Identification*

Not yet…


Sensor Subsystem

• Camera mount

• Template provided by SDK

• C/C++ for portability

• Calibration and lighting

• Goal: implement complete program

• Consideration: multiple object tracking


Sensor Subsystem


Artificial Intelligence



• Object position and label

• X,Y coordinates

• Find appropriate command for situation

• … and find it fast!



• Keep the algorithm simple and consistent

• Optimize code for common cases

• Line of sight in 2-dimensional map

• Trigonometry and geometry

• “Dummy” robot



“Running Man”



“Line Man”



• Line Man algorithm

• 2 versions of Running Man code

• Goal: robot uses optimal path

• Consideration: multiple objects on field


Francisco Fighter II:Championship Edition


Robot and Communications

• 20 cm x 20 cm x 30 cm

• Modular design

• IC dominant

• Simple chassis

• Built in layers

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• 20 cm x 20 cm x 30 cm

• Modular design

• IC dominant

• Simple chassis

• Built in layers



• IN: rs232 data signal

• OUT: TTL/CMOS data signal

• -/+15V (rs232) to +/-5V (TTL)

• MAX233

• 3 controls (manual, computer, wireless*)

COMMCOMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: data signal

• OUT: control signal

• Decodes message from computer

• 8-bit string to commands

• PIC16F877

• RCM2000 RabbitCore

Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: AC or DC

• OUT: DC for circuits

• Provide power for circuits and motors

• Monitor power level

• Efficient power supply

• Allow 2 sources (DC or AC)

Power Supply Unit

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: processor commands

• OUT: physical motion

• DC motors

• H-bridge

• PWM

• Braking

• Multidirectional

Motor Controls

Motors

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• Robot structure and module designs

• Convert to schematic

• Begin production of robot

• Goal: working robot controlled by user or computer

• Consideration: implement ball handler/kicker


Summary

• 1 robot, 1 ball

• Custom software, hardware design

• Code AI and vision program

• Build robot and circuits

• Goal: robot moves to ball (autonomously)

• Consideration: complete AI and robot first


Questions? Comments?

Goodbye.

X96 Autonomous Robot Proposal Presentation Monday, February 16, 2004 By John Budinger Francisco...

Documents

Transcript of X96 Autonomous Robot Proposal Presentation Monday, February 16, 2004 By John Budinger Francisco...