x96 Autonomous Robot

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x96 Autonomous Robot Proposal
Presentation Monday, February 16, 2004 By John
Budinger Francisco Otibar
Francisco Fighter II Championship Edition
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• x96 Autonomous Robot
• Introduction
• Started in Spring 2003
• Gain experience with robots
• Engage in a fun and challenging project
• Different type of project (not too different)

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• x96 Autonomous Robot
• Proposals
• Autonomous Robot
• Sensor Subsystem
• Artificial Intelligence
• Robot and Communications
• Questions or Comments and Answers

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x96 Autonomous Robot Autonomous Robot
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• x96 Autonomous Robot
• Autonomous Robot
• Soccer robot
• Composed of 3 main subsystems
• Design software and hardware
• Combine all subsystems successfully

computer
robot
COMM
sensors
AI
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x96 Autonomous Robot Sensor Subsystem
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• x96 Autonomous Robot
• Sensor Subsystem
• Camera and vision program
• Color, fast, low cost
• Custom versus Commercial

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• x96 Autonomous Robot
• 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

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• x96 Autonomous Robot
• Sensor Subsystem
• Custom solution
• Logitech Messenger QuickCam
• Logitech QuickCam SDK
• Visual C 6.0
• Global Vision
• TRIPOD by Prof. Paul Oh
• DevIL for processing

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• QuickCam drivers and SDK
• RGB image
• 160x120 to 640x480 pixels

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Homogenized
• RGB to HSL conversion
• if((pixelColor gt MIN_COLOR_VALUE)
• (pixelColor lt MAX_COLOR_VALUE))
• pixelColor COLOR_VALUE

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Image Filter
• Remove noise
• if(size(blob) lt MIN_OBJECT_SIZE)
• remove(blob)

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Image Filter
• Object Detection
• Finds and labels valid objects
• if((size(blob) size(OBJECT))
• (color(blob) color(OBJECT))
• label(blob) label(OBJECT)

Ball
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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Image Filter
• Object Detection
• Object Position
• Center of mass

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Image Filter
• Object Detection
• Object Position
• Object Identification
• Not yet

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture
• Color Dectection
• Image Filter
• Object Detection
• Object Position
• Object Identification
• Not yet

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• x96 Autonomous Robot
• Sensor Subsystem
• Camera mount
• Template provided by SDK
• C/C for portability
• Calibration and lighting
• Goal implement complete program
• Consideration multiple object tracking

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x96 Autonomous Robot Sensor Subsystem
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x96 Autonomous Robot Artificial Intelligence
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• x96 Autonomous Robot
• Artificial Intelligence
• Object position and label
• X,Y coordinates
• Find appropriate command for situation
• and find it fast!

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• x96 Autonomous Robot
• Artificial Intelligence
• Keep the algorithm simple and consistent
• Optimize code for common cases
• Line of sight in 2-dimensional map
• Trigonometry and geometry
• Dummy robot

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x96 Autonomous Robot Artificial
Intelligence Running Man
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x96 Autonomous Robot Artificial
Intelligence Running Man
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x96 Autonomous Robot Artificial
Intelligence Line Man
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x96 Autonomous Robot Artificial
Intelligence Line Man
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x96 Autonomous Robot Artificial
Intelligence Line Man
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x96 Autonomous Robot Artificial
Intelligence Line Man
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• x96 Autonomous Robot
• Artificial Intelligence
• Line Man algorithm
• 2 versions of Running Man code
• Goal robot uses optimal path
• Consideration multiple objects on field

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x96 Autonomous Robot Francisco Fighter
II Championship Edition
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• x96 Autonomous Robot
• Robot and Communications
• 20 cm x 20 cm x 30 cm
• Modular design
• IC dominant
• Simple chassis
• Built in layers

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• x96 Autonomous Robot
• Robot and Communications
• 20 cm x 20 cm x 30 cm
• Modular design
• IC dominant
• Simple chassis
• Built in layers

COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
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• x96 Autonomous Robot
• Robot and Communications
• IN rs232 data signal
• OUT TTL/CMOS data signal
• -/15V (rs232) to /-5V (TTL)
• MAX233
• 3 controls (manual, computer, wireless)

COMM
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
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• x96 Autonomous Robot
• Robot and Communications
• IN data signal
• OUT control signal
• Decodes message from computer
• 8-bit string to commands
• PIC16F877
• RCM2000 RabbitCore

COMM
Data Processing
Data Processing
Power Supply Unit
Motor Controls
Motors
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• x96 Autonomous Robot
• Robot and Communications
• 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)

COMM
Data Processing
Power Supply Unit
Power Supply Unit
Motor Controls
Motors
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• x96 Autonomous Robot
• Robot and Communications
• IN processor commands
• OUT physical motion
• DC motors
• H-bridge
• PWM
• Braking
• Multidirectional

COMM
Data Processing
Power Supply Unit
Motor Controls
Motor Controls
Motors
Motors
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• x96 Autonomous Robot
• Robot and Communications
• 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

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• x96 Autonomous Robot
• 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

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x96 Autonomous Robot Questions?
Comments? Goodbye.