X96 Autonomous Robot Design Review Thursday, May 6, 2004 By John Budinger Francisco Otibar

x96 Autonomous Robot

Design Review

Thursday, May 6, 2004

By

John Budinger

Francisco Otibar


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)


Design Reviews

• Autonomous Robot

• Sensor Subsystem (revised*)

• 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 (DEAD)

• Logitech QuickCam SDK (C++) (DEAD)

• MS Visual C++ 6.0 (DEAD)

• 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

• Newer problems: SDK, Windows

• Result: Nothing new

• Consideration: multiple object identification and tracking


100% Artificial Intelligence


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

• Quad Man… sort of



“Line Man”



“Line Man”



“Line Man”



“Quad 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

Problems: Law of Cosines, angle less than 180

Result: Quad Man

• Consideration: multiple objects on field


Francisco Fighter II:Championship Edition


Robot and Communications

• Input

commands (BYTE)

• Output

action (move, kick, sleep)



• ? cm x ? cm x ? cm

• Modular design

• IC dominant

• Simple chassis

• Built in cards (not layers)

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• ? cm x ? cm x ? cm

• Modular design

• IC dominant

• Simple chassis

• Built in cards (not layers)



Chip count: 7 ICs

PC

TxRx

DecodeData

Process

PWM

MotorDriver 0

MotorDriver 1

Motor0

Motor1User

COMM

PSU

V-Reg



• IN: rs232/user signal

• OUT: TTL/CMOS data signal

• MAX232A (ext. cap., fast baud rate)

• -/+10V (rs232) to +/-5V (TTL)

• Various controls (manual, computer, wireless*)

COMMCOMM

Motors

Power Supply Unit

Motor Controls

Data Processing



COMMCOMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: data signal

• OUT: control signal

• Decodes message from computer

• 8-bit string to commands

• PIC16F877 (33 I/O, USART, 2 PWM, 20MHz)

Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Data Processing

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: AC or DC

• OUT: DC for circuits

• 9V battery

• ??? AA batteries (12-15V, 2A)

Power Supply Unit

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Power Supply Unit

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



• IN: processor commands

• OUT: physical motion

• 12V DC motors

• LMD18200 (PWM, braking, bidirectional)

Motor Controls

Motors

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Motor Controls

Motors

COMM

Motors

Power Supply Unit

Motor Controls

Data Processing



Chip count: 5 ICs

PC

TxRx

MotorDriver 0

MotorDriver 1

Motor0

Motor1User

COMM

PSU

DecodeData Process

PWM

V-Reg




Robot and Communications Power Management

Motor Drivers

Data Processing

Communications Module





• 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



• 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



PROBLEMS


Summary

• 1 robot, 1 ball

• Custom software, hardware design

• Code AI and vision program

• Result: robot moves…


Questions? Comments?

Goodbye.

Documents

X96 Autonomous Robot Design Review Thursday, May 6, 2004 By John Budinger Francisco Otibar