X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara

x96 Autonomous Robot

Design Review

Saturday, March 13, 2004

By

John Budinger

Francisco Otibar

Scott Ibara


Introduction… again.

• Started in Spring 2003

• Gain experience with robots

• Engage in a fun and challenging project

• Different type of project (not too different)


Design Reviews

• Autonomous Robot

• Sensor Subsystem

• Artificial Intelligence (revised)

• Robot and Communications (revised)

Questions or Comments and Answers


Autonomous Robotstill the same


Autonomous Robot

• Soccer robot

• Composed of 3 main subsystems (sensors, AI, robot)

• Design software and hardware (separate modules)

• Combine all subsystems

computer

sensorsrobotCOMM

AI


Autonomous Robot

Input Output

Images Coordinates

Coordinates Commands

Commands Action

sensors

robot

AI


Sensor Subsystemalmost the same


Sensor Subsystem

• Input

raw data (unprocessed image)

• Output

object coordinate and label (X, Y, OBJECT)


Sensor Subsystem

• Collect as much data as quickly as possible

• Low cost and reliable

• Custom versus Commercial


Sensor Subsystem

• Custom solution

• Logitech QuickCam Messenger

• Logitech QuickCam SDK (C++)

• MS Visual C++ 6.0

• TRIPOD by Prof. Paul Oh (testing C code)

• DevIL (complicated processes)


Sensor Subsystem

• Global Vision

• Green field

• White markers/borders

• Orange golf ball

• Robot w/ mostly black top


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

Ball


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


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


All your AI are belong to us!evolution happens…


Artificial Intelligence

• Input

all objects (coordinates and labels)

• Output

robot command (BYTE)



• Uses objects position and labels

• Creates a map with XY coordinates

• Implemented in C++



• 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



“Line Man”



“Line Man”



“Line Man”



• 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);



• 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


Francisco Fighter IIb:Championship Edition


Robot and Communications

• Input

commands (BYTE)

• Output

action (move, kick, sleep)



• 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



• 10 cm x 10 cm x N cm

• Modular design

• IC dominant

• Simple chassis

• Built in layers



Chip count: 6 ICs

PC

TxRx

DecodeData

Process

PWM

MotorDriver 0

MotorDriver 1

Motor0

Motor1User

COMMPSU



• 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*)

COMMCOMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• 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



• 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



• 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



Chip count: 4 ICs

PC

TxRx

MotorDriver 0

MotorDriver 1

Motor0

Motor1User

COMMPSU

DecodeData Process

PWM





• 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


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


Schedule

March 13-21 build and test prototype circuits, design AI

March 22-28 build and test robot, design AI, resume sensor

March 29-April 4 build and test comm, code AI, test sensor

April 5-11 test AI, finalize robot

April 12-18 integrate AI, sensor

April 19-25 debug and test final program

April 26-May 2 test robot with comm (and program)

yeah right…


Questions? Comments?

Goodbye.

Documents

X96 Autonomous Robot Design Review Saturday, March 13, 2004 By John Budinger Francisco Otibar Scott Ibara