Transcript 397 KB - Clayton

Interim Presentation
Advancing the soccer robot
Ben Jenkins
Supervisors: Gordon Lowe, Dr. Haim Hiok Lim
Mentor: Charles Greif
Overview

Background
 Objective
 This years work
 Further development
 Additional information
What is the soccer robot

Autonomous vehicle
 Plays soccer
 Development at Monash Uni started in 1999
 My research topic for Hons
 RoboCup hosts soccer competitions
RoboCup

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.
The soccer robot to date
Camera and mirror
Computer
Wheels and drive train
Camera and
mirror
Wheels and
motors
Pneumatic
kicker
Motherboard and
misc electronics
The soccer
robot to date
Soccer ball
Why the soccer robot?

Personal research and development
 By the year 2050, develop a team of fully
autonomous humanoid robots that can win
against the human world soccer champion
team.
- RoboCup
Applications

Fire fighting
 Robocop
 Soccer player
Bomb disposal
Domestic servants
Building blocks
Sensors
Field Positioning System
Artificial Intelligence
Motion
For the computer buffs
Pentium 233MHz, 32M RAM, 40M Disk on chip
Hard disk & floppy drive removed
QNX real-time operating system.
Objective

To be able to make the robot “see” the ball
and be able to move towards it.
This years work

Revamp design computers
– Hard disk errors
– Speed
– Reaching the end of there reliable lifespan

Problems
– Configuring QNX networks
– Transfer code from old machines
This years work (cont)

Understand previous years contributions
– AI (Artificial intelligence)
– FPS (Field Positioning System)
– MCS (Motion Control System)
– MPM (Message Passing Module)
– Sensory system
– Mechanical system
This years work (cont)

Convert motion code from windows to
QNX.
 Problems I am anticipating
– Windows is not a RTOS
– QNX has advanced IPC techniques
This years work (cont)

Integrate new motion with previous
modules
 Test and debug
Further development

Make robot hit the ball
 Fine tune the robot to kick goal
 Make robot work as team member
 Enhance motion
– 400mm/sec max speed
– 2500mm/sec to be competitive
Additional information

[email protected]
 www.csse.monash.edu.au/~bwjen1
 RoboCup website
– http://www.robocup.org/02.html

Gordon Lowe, Bldg 63, Rm G15, Clayton.
Any questions