x96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara

x96 Autonomous Robot Introduction… 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 Artificial Intelligence (revised) Robot and Communications (revised) Questions or Comments and Answers

x96 Autonomous Robot Autonomous Robot still the same

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 sensors robot COMM AI

x96 Autonomous Robot Autonomous Robot InputOutput ImagesCoordinates CoordinatesCommands CommandsAction sensors robot AI

x96 Autonomous Robot Sensor Subsystem almost the same

x96 Autonomous Robot Sensor Subsystem Input raw data (unprocessed image) Output object coordinate and label (X, Y, OBJECT)

x96 Autonomous Robot 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 Logitech QuickCam SDK (C++) MS Visual C TRIPOD by Prof. Paul Oh (testing C code) DevIL (complicated processes)

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

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

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

x96 Autonomous Robot Sensor Subsystem Sensor application Camera mount fluorescent lights green carpet New problems? Windows, location, camera? Goal: implement sensor program that successfully tracks one robot and one ball Consideration: multiple object identification and tracking

x96 Autonomous Robot All your AI are belong to us! evolution happens…

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

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

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

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

x96 Autonomous Robot Artificial Intelligence “Line Man”

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);

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 Goal: robot uses optimal path Consideration: multiple objects on field

x96 Autonomous Robot Francisco Fighter IIb: Championship Edition

x96 Autonomous Robot Robot and Communications Input commands (BYTE) Output action (move, kick, sleep)

x96 Autonomous Robot Robot and Communications 10 cm x 10 cm x N cm Modular design IC dominant Simple chassis Built in layers

COMM Motors Power Supply Unit Motor Controls Data Processing x96 Autonomous Robot Robot and Communications 10 cm x 10 cm x N cm Modular design IC dominant Simple chassis Built in layers

x96 Autonomous Robot Robot and Communications Chip count: 6 ICs PC Tx Rx Decode Data Process PWM Motor Driver 0 Motor Driver 1 Motor 0 Motor 1 User COMM PSU

x96 Autonomous Robot Robot and Communications IN: rs232/user signal OUT: TTL/CMOS data signal MAX233 (no ext. cap., fast baud rate) -/+15V (rs232) to +/-5V (TTL) Various controls (manual, computer, wireless*) COMM Motors Power Supply Unit Motor Controls Data Processing

x96 Autonomous Robot Robot and Communications IN: data signal OUT: control signal Decodes message from computer 8-bit string to commands PIC16F627 (USART, PWM, 20MHz) Data Processing COMM Motors Power Supply Unit Motor Controls Data Processing

x96 Autonomous Robot Robot and Communications IN: AC or DC OUT: DC for circuits Monitor power level Efficient power supply 6-8 AA batteries (1.2V, 1.6Ah) Power Supply Unit COMM Motors Power Supply Unit Motor Controls Data Processing

x96 Autonomous Robot Robot and Communications IN: processor commands OUT: physical motion 1.5-3V Mabuchi DC motors LMD18200 (PWM, braking, bidirectional) Motor Controls Motors COMM Motors Power Supply Unit Motor Controls Data Processing

x96 Autonomous Robot Robot and Communications Chip count: 4 ICs PC Tx Rx Motor Driver 0 Motor Driver 1 Motor 0 Motor 1 User COMM PSU Decode Data Process PWM

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!!! Goal: working robot controlled by user or computer Consideration: implement ball handler/kicker

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… or manually), as long as the robot moves Consideration: complete AI and robot first

x96 Autonomous Robot Schedule March 13-21build and test prototype circuits, design AI March 22-28build and test robot, design AI, resume sensor March 29-April 4build and test comm, code AI, test sensor April 5-11test AI, finalize robot April 12-18integrate AI, sensor April 19-25debug and test final program April 26-May 2test robot with comm (and program) yeah right…

x96 Autonomous Robot Questions? Comments? Goodbye.