Final PresentationFinal Presentation

Advancing the soccer robot

Ben Jenkins

Supervisors: Gordon Lowe, Dr. Haim Hiok Lim

Mentor: Charles Greif

OverviewOverview

Background Objective This years work Further development Additional information

What is the soccer robotWhat is the soccer robot

Autonomous vehicle Plays soccer Development at Monash Uni started in 1999 My research topic for Hons RoboCup hosts soccer competitions

RoboCupRoboCup

Worldwide research and education initiative Foster AI and intelligent robotics research Provides a standard problem where a wide range

of technologies can be used. Project-oriented education.

Building blocksBuilding blocks

Sensors

Field Positioning System

Motion

Artificial Intelligence

ObjectiveObjective

To be able to make the robot “see” the ball and be able to move towards it.

This years workThis years work

Revamped design computers. Built cable for motion system. Built frame for camera, motherboard and kicker. Developed preprocessing filtering for vision

system. Built application for determining the real distance between robot and ball from an image.

Developed code to communicate with the motion control card and servo boards.

Convert the motion code from windows to QNX.

This years work (cont)This years work (cont)

Integrate new motion with previous modules Test and debug

Motion Control SystemMotion Control System

Built control cable from computer to the servo control boards.

Develop software to communicate with MCC and SB. (Made wheels turn).

Further development to make the robot move. Develop routines to actuate the kicker.

View cable Wheels spinning Robot moving Next SlideKicker

MCS (cont)MCS (cont)

Implemented the quintic polynomial control system.

Allows displacement, velocity and acceleration to be defined at the start and end points of the robot trajectory.

Software developed, but not fully tested. Simulations appear to gives correct results.

MATLAB graphs Next Slide

Control CableControl Cable

Return

Computer

Motion Control Card

PCI bus

Motor 1 Motor 2 Motor 3

Servo 1 Servo 2 Servo 3

Wheel spinningWheel spinning

Return

Robot movingRobot moving

Return

Pneumatic kickerPneumatic kicker

Return

MATLAB simulationsMATLAB simulations

Return

Vision systemVision system Optimised previous code. (40% of the size).

•2 Processes

•Read from grabber.

•Write to BMP file.

•Send message.

•Read BMP from file.

•Process the image.

•Delete file.

Existing system•Single process

•Stores image in memory (passes memory pointer).

New system

Message passingMessage passing

Totally rewrote the message passing class. Process was writing globally hoping the intended

receiver was listening. Now use QNX message passing functionality.

Process ID’s are stored and messages are addressed.

Distance mappingDistance mapping

Image needed to be processed to determine direction and distance of ball.

With the assistance of Stewart Hore, we rebuilt an application which would read in images and provide a series of co-efficients to hard code into the source.

Filtering was required. 3x3 was good. Could afford 5x5.

Filter images Next Slide

Filtered imagesFiltered images

Original 3x3 mean filter 5x5 mean filter

Return

Further developmentFurther development

Integrate motion and vision system. Full control over robots movements Make robot kick ball Make robot work as team member Enhance vision.

– Use better camera. Digital image. Enhance motion

– 400mm/sec max speed– 2500mm/sec to be competitive

Additional informationAdditional information

bwjen1@csse.monash.edu.au www.csse.monash.edu.au/~bwjen1 RoboCup website

– http://www.robocup.org/02.html Gordon Lowe, Bldg 75, Rm 1101, Clayton.

Any questionsAny questions

?