Roco Coln

1
Carlos Charles
Carlos Galarza
Juan G. Arzola
Rubén Morales
Gladys M. Dones
Rocío Colón
Liz A. Matos
Elmy Morales
Carlos Dávila
2
Giovanni Resto
Michael Vega
Benjamín Nelson
Juan A. Torres
José Vázquez
Karen Rivera
Jorge Rivera
Enidia Santiago
Wilbert Rodríguez
3
Robot Soccer 2002 UPRM
4
Objective

• Develop a two member team, composed of autonomous
  robots.
• Play soccer against an opposing team while only
  receiving information trough several types of
  sensors and processing instructions from a
  microcontroller.

5
Outline

• Leagues Description.
• Robots Description.
• Wireless Communication System.
• Global Vision System.

6
Junior League
Ball
183cm
122cm
45cm
7
Robot Description
Motors
Wheels
8
Robot Description
Microprocessor HC-11 or Basic Stamp
Bumper Switches
9
Robot Description
Photo resistors
10
Robot Description
22cm height
Area 220 cm2
22 cm Diameter
11
F180 League
162.5cm
Ball
284cm
50cm
12
Robot Description
Wheels
Motors
13
Robot Description
Communication Device
Microprocessor
Kicking Device
14
Robot Description
15
Wireless Communication System
Frequency 914.5 MHz
Baud rate 9,600 bps

• Data packets will be sent to each Robot by means
  of RF modules.

16
Global Vision System

• Computer controls position of the robots through
  a global camera positioned on top of the center
  of the soccer court

17
Global Vision System Process
Camera takes a picture of the soccer field and
the image acquisition card stores the image in
the computers memory.
Image acquisition
Image is simplified to an image consisting of
only 8 colors. Solid colors define boundaries in
the image.
Image Segmentation
New game state
Objects position and robot orientation are
acquired through algorithms that use the color,
area and position of the boundaries of the
segmented image.
Object Recognition
Computer AI creates statistics of the current
game conditions and interprets them to decide the
best play.
Game AI
18
(No Transcript)
19
Image Segmentation

• Segment An area in the image whose properties
  are used for object recognition.
• Segments define a robot with two properties
• Colors
• yellowcomputer player
• black human controlled player.
• Position
• The initial position of a robot identifies it in
  the field.
• Updated by performing a search starting from the
  previously found position.

20
(No Transcript)
21
(No Transcript)
22
Game AI

• Game relevant data is calculated
• Distance between game elements
• Line of movement of the ball
• Possible contact points between computer
  controlled robots and the ball
• Data is analyzed to decide the best play
• Individual robot actions are sent to the
  communication system

23
(No Transcript)