Download still the same

x96 Autonomous Robot
Design Review
Thursday, May 6, 2004
By
John Budinger
Francisco Otibar
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)
x96 Autonomous Robot
Design Reviews
• Autonomous Robot
• Sensor Subsystem (revised*)
• Artificial Intelligence (revised)
• Robot and Communications (revised)
Questions or Comments and Answers
x96 Autonomous Robot
Autonomous Robot
still the same
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Autonomous Robot
• Soccer robot
• Composed of 3 main subsystems (sensors, AI, robot)
computer
COMM
sensors
AI
• Design software and hardware (separate modules)
• Combine all subsystems
robot
x96 Autonomous Robot
Autonomous Robot
Input
Output
sensors
Images
Coordinates
AI
Coordinates
Commands
Commands
robot
Action
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Sensor Subsystem
almost the same
x96 Autonomous Robot
Sensor Subsystem
• Input
raw data (unprocessed image)
• Output
object coordinate and label (X, Y, OBJECT)
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Sensor Subsystem
• Collect as much data as quickly as possible
• Low cost and reliable
• Custom versus Commercial
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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Sensor Subsystem
• Global Vision
• Green field
• White markers/borders
• Orange golf ball
• Robot w/ mostly black top
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Sensor Subsystem
Ball
• 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
x96 Autonomous Robot
Sensor Subsystem
Ball
• 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
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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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100% Artificial Intelligence
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Artificial Intelligence
• Input
all objects (coordinates and labels)
• Output
robot command (BYTE)
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Artificial Intelligence
• Uses objects position and labels
• Creates a map with XY coordinates
• Implemented in C++
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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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Artificial Intelligence
“Line Man”
x96 Autonomous Robot
Artificial Intelligence
“Line Man”
x96 Autonomous Robot
Artificial Intelligence
“Line Man”
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Artificial Intelligence
“Quad Man”
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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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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
x96 Autonomous Robot
Francisco Fighter II:
Championship Edition
x96 Autonomous Robot
Robot and Communications
• Input
commands (BYTE)
• Output
action (move, kick, sleep)
x96 Autonomous Robot
Robot and Communications
• ? cm x ? cm x ? cm
• Modular design
• IC dominant
• Simple chassis
• Built in cards (not layers)
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
x96 Autonomous Robot
Robot and Communications
PC
Rx
Tx
Decode
Data
Process
Motor
Driver 0
Chip count: 7 ICs
User
COMM
PSU
V-Reg
PWM
Motor
Driver 1
Motor
0
Motor
1
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Robot and Communications
• IN: rs232/user signal
• OUT: TTL/CMOS data signal
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
• MAX232A (ext. cap., fast baud rate)
• -/+10V (rs232) to +/-5V (TTL)
• Various controls (manual, computer, wireless*)
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
• IN: data signal
• OUT: control signal
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
• Decodes message from computer
• 8-bit string to commands
• PIC16F877 (33 I/O, USART, 2 PWM, 20MHz)
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
• IN: AC or DC
• OUT: DC for circuits
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
• 9V battery
• ??? AA batteries (12-15V, 2A)
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
• IN: processor commands
• OUT: physical motion
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
• 12V DC motors
• LMD18200 (PWM, braking, bidirectional)
x96 Autonomous Robot
Robot and Communications
COMM
Data Processing
Power Supply Unit
Motor Controls
Motors
x96 Autonomous Robot
Robot and Communications
PC
Rx
Tx
Chip count: 5 ICs
User
COMM
PSU
V-Reg
Decode
Data Process
PWM
Motor
Driver 0
Motor
Driver 1
Motor
0
Motor
1
x96 Autonomous Robot
Robot and Communications
x96 Autonomous Robot
Robot and Communications
Power
Management
Communications
Module
Motor Drivers
Data Processing
x96 Autonomous Robot
Robot and Communications
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
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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Robot and Communications
PROBLEMS
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Summary
• 1 robot, 1 ball
• Custom software, hardware design
• Code AI and vision program
• Result: robot moves…
x96 Autonomous Robot
Questions? Comments?
Goodbye.