Autonomous Robot

1
Autonomous Robot

• October 25, 2004
• John Budinger
• Francisco Otibar

2
Design Review

• Overview
• Subsystems
• Concepts
• Implementation
• Comments
• Questions
• Video

3
Autonomous Robot

• Autonomous Soccer Robot
• Autonomous
• Independently think and act
• Soccer
• Field with goals and a ball
• Robot
• Hardware and software

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Autonomous Robot

• Modular Approach
• Simplify project
• Easy debugging
• Interchangeable components
• Potential Upgrades
• Top-down and Bottom-up

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Autonomous Robot
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Autonomous Robot

• Sensors
• Eyes
• Artificial Intelligence
• Brain
• Robot
• Body
• Communications
• Nervous system

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Sensors

• Hardware
• Camera
• Software
• Object Recognition Program

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• Overhead Camera
• Relatively fast
• Collects lots of data
• Economical

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Sensors

• Program
• Gets frame
• Filter
• Create homogeneous blob
• Remove isolated pixels
• Detect objects
• Color
• Size

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Sensors

• Get Frame
• Provided in SDK

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Sensors

• Filter Frame
• Create homogeneous blobs
• Compare individual pixels to palette
• Replace with nominal value
• Remove isolated blobs
• Compare blobs to table
• Replace with dominant color

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Sensors

• Detect Objects
• Defined by marker
• Determine color
• Palette
• Determine size
• Count pixels
• Outside
• Inside

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Sensors

• Identify Objects
• Ball
• Orange
• Team Marker
• Yellow or blue

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Sensors

• Orientation of Objects
• Ball orientation not important
• Opposition orientation not important
• Maybe later
• Team orientation
• Pattern
• Cyan and Magenta

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Sensors

• Information on Objects
• Coordinates
• Vertical
• Horizontal
• Identification
• Ball, oppositon, team
• Direction
• Angle

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Sensors

• Logitech SDK
• Microsoft Visual C 6.0

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Artificial Intelligence

• Get objects
• Identifier
• Coordinates
• Plot on Virtual Field
• Determine Actions
• Send command

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Artificial Intelligence

• Line Man
• Turn
• Move
• Quad Man
• Turn and move

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Artificial Intelligence

• Vector Movement
• Direction
• Magnitude
• Segmented Path
• Start point
• End point

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Artificial Intelligence

• Determining Actions
• Role
• Assign order
• Equal attention
• Factors
• Proximity to ball
• Ball possession
• Position on map
• Proximity to goals

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Artificial Intelligence

• Send commands in 2 BYTES
• ID 3 bits
• Motor speed 4 bits
• Action 1 bit
• Serial port
• 9600 baud

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Artificial Intelligence

• Microsoft Visual C 6.0
• MS Communications Control

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Robot

• Modules
• Data Processing
• Motor Control and Motors
• Power Management
• Chassis
• Ball Control
• Bells and Whistles and Wires

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Robot

• Data Processing Module
• PIC 16F877
• 20 MHz
• Pulse width modulation
• 33 IO pins
• No onboard AI
• Listen robot

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Robot

• Motor Control
• L298N
• Voltage and current driver
• Parallel outputs
• Logic control
• 5 - 45 V, 2 A
• Motors
• 2 DC motors
• Gear head
• 200 RPM
• 3600 g-cm torque

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Robot

• Power Supply
• 12 1.2 V batteries
• 5 V, 1 A voltage regulator
• Power Indicator
• Pending

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Robot

• Chassis
• Aluminum
• Two-wheel with caster
• Sections
• Layered sub modules

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Robot

• Ball Control
• Dribbler
• Constantly push ball forward
• Pull with rotating spin-a-majig
• Kicker
• Solenoid

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Robot

• Human Interface Device
• Playstation controller
• Display
• Wire Management
• Omni-directional Movement

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Communications

• Wireless
• Transmitter
• Module attached to computer
• Serial
• Small and self contained
• Receiver
• Module attached to robot
• Antenna
• Helical, loop, whip

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Communications

• Protocol
• Input 2 BYTES
• Create 12-bit packet
• ID 3 bits
• Motor speed 8 bits
• Action 1 bit

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Communications

• RTF3-433 Tx
• FM 433 MHz
• Data rate 9.6 KHz
• 8 mA _at_ 5 Vdc
• 2.7 to 14 Vdc
• RRF1-433C Rx
• FM 433 MHz
• Data rate 9.6 Kbps
• 5.5 mA _at_ 5 Vdc
• 3.5 to 5.5 Vdc

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Questions?

• Thank you.