x96 Autonomous Robot

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x96 Autonomous Robot Design Review Thursday,
May 6, 2004 By John Budinger Francisco Otibar
Francisco Fighter II Championship Edition
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• x96 Autonomous Robot
• Introduction again, and again.
• 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
• Design Reviews
• Autonomous Robot
• Sensor Subsystem (revised)
• Artificial Intelligence (revised)
• Robot and Communications (revised)
• Questions or Comments and Answers

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x96 Autonomous Robot Autonomous Robot still
the same
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• x96 Autonomous Robot
• Autonomous Robot
• Soccer robot
• Composed of 3 main subsystems (sensors, AI,
  robot)
• Design software and hardware (separate modules)
• Combine all subsystems

computer
robot
COMM
sensors
AI
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x96 Autonomous Robot Autonomous
Robot Input Output Images Coordinates
Coordinates Commands Commands Action
sensors
AI
robot
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x96 Autonomous Robot Sensor Subsystem almost
the same
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• x96 Autonomous Robot
• Sensor Subsystem
• Input
• raw data (unprocessed image)
• Output
• object coordinate and label (X, Y, OBJECT)

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• x96 Autonomous Robot
• Sensor Subsystem
• Collect as much data as quickly as possible
• Low cost and reliable
• Custom versus Commercial

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• x96 Autonomous Robot
• Sensor Subsystem
• Custom solution
• Logitech QuickCam Messenger (DEAD)
• Logitech QuickCam SDK (C) (DEAD)
• MS Visual C 6.0 (DEAD)
• TRIPOD by Prof. Paul Oh (testing C code)
• DevIL (complicated processes)

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• x96 Autonomous Robot
• Sensor Subsystem
• Global Vision
• Green field
• White markers/borders
• Orange golf ball
• Robot w/ mostly black top

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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture (SDK)
• Color Detection (color comparison)
• Image Filter (matrix)
• Object Detection (size, color)
• Object Position (center of mass)
• Object Identification
• Markers
• Specified colors/pattern

Ball
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• x96 Autonomous Robot
• Sensor Subsystem
• Image Capture (SDK)
• Color Detection (color comparison)
• Image Filter (matrix)
• Object Detection (size, color)
• Object Position (center of mass)
• Object Identification
• Markers
• Specified colors/pattern

Ball

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• x96 Autonomous Robot
• Sensor Subsystem
• Sensor application
• Camera mount
• fluorescent lights
• green carpet
• Newer problems SDK, Windows
• Result Nothing new
• Consideration multiple object identification
  and tracking

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x96 Autonomous Robot 100 Artificial
Intelligence
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• x96 Autonomous Robot
• Artificial Intelligence
• Input
• all objects (coordinates and labels)
• Output
• robot command (BYTE)

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• x96 Autonomous Robot
• Artificial Intelligence
• Uses objects position and labels
• Creates a map with XY coordinates
• Implemented in C

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• x96 Autonomous Robot
• Artificial Intelligence
• Find appropriate command for situation
• and find it fast!
• Keep the algorithm simple and consistent
• Optimize code for common cases
• Dummy robot
• Line Man algorithm meets specifications
• Quad Man sort of

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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 Quad Man
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• x96 Autonomous Robot
• Artificial Intelligence
• void FieldMap(int X, int Y, int OBJECT, Map
  field)
• void Motor0(int DIRECT, int SPEED)
• void Motor1(int DIRECT, int SPEED)
• void Kick(void)
• void RobotCommand(BYTE command)

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• x96 Autonomous Robot
• Artificial Intelligence
• Line Man algorithm with tracking
• Based on line of sight
• Dynamic turning/movement
• Includes steering/acceleration
• Ideal for current robot design
• Problems Law of Cosines, angle less than 180
• Result Quad Man
• 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
• Input
• commands (BYTE)
• Output
• action (move, kick, sleep)

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• x96 Autonomous Robot
• Robot and Communications
• ? cm x ? cm x ? cm
• Modular design
• IC dominant
• Simple chassis
• Built in cards (not layers)

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• x96 Autonomous Robot
• Robot and Communications
• ? cm x ? cm x ? cm
• Modular design
• IC dominant
• Simple chassis
• Built in cards (not layers)

COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and
Communications Chip count 7 ICs
PC Tx
Rx
Decode
Data Process
Motor Driver 0
Motor 0
PWM
Motor Driver 1
Motor 1
User COMM
PSU
V-Reg
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• x96 Autonomous Robot
• Robot and Communications
• IN rs232/user signal
• OUT TTL/CMOS data signal
• MAX232A (ext. cap., fast baud rate)
• -/10V (rs232) to /-5V (TTL)
• Various controls (manual, computer, wireless)

COMM
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and Communications
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 (33 I/O, USART, 2 PWM, 20MHz)

COMM
Data Processing
Data Processing
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and Communications
COMM
Data Processing
Data Processing
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and Communications
COMM
Data Processing
Data Processing
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and Communications
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
• 9V battery
• ??? AA batteries (12-15V, 2A)

COMM
Data Processing
Power Supply Unit
Power Supply Unit
Motor Controls
Motors
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x96 Autonomous Robot Robot and Communications
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
• 12V DC motors
• LMD18200 (PWM, braking, bidirectional)

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

COMM
Data Processing
Power Supply Unit
Motor Controls
Motor Controls
Motors
Motors
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x96 Autonomous Robot Robot and
Communications Chip count 5 ICs
PC Tx
Rx
Decode Data Process PWM
Motor Driver 0
Motor 0
Motor Driver 1
Motor 1
User COMM
PSU
V-Reg
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x96 Autonomous Robot Robot and Communications
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x96 Autonomous Robot Robot and Communications
Power Management
Communications Module
Motor Drivers
Data Processing
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x96 Autonomous Robot Robot and Communications
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• x96 Autonomous Robot
• Robot and Communications
• Robot structure and module designs
• Convert to schematic
• Begin production of robot
• WHEELS!!!
• Result semi-working robot controlled by
  computer
• Consideration implement ball handler/kicker

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• x96 Autonomous Robot
• Robot and Communications
• Robot structure and module designs
• Convert to schematic
• Begin production of robot
• BATTERIES!!!
• Result semi-working robot controlled by
  computer
• Consideration implement ball handler/kicker

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x96 Autonomous Robot Robot and
Communications PROBLEMS
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• x96 Autonomous Robot
• Summary
• 1 robot, 1 ball
• Custom software, hardware design
• Code AI and vision program
• Result robot moves

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x96 Autonomous Robot Questions?
Comments? Goodbye.