Transcript see Eric`s poster - Computer Science and Engineering

What is RoboCup
System Architecture
An international project created
to promote the fields of Artificial
Intelligence and Robotics.
RoboCup uses the soccer game as
a central theme, but the
innovations are applied to
significant social problems and
industries.
The ultimate goal of the RoboCup project is: By 2050, develop
a team of fully autonomous humanoid robots that can win against
the human world champion team in soccer.
In order for a robot team to actually perform a soccer game, various
technologies must be incorporated. The robot architecture of our joint
team EagleKnights/RoboBulls consists of four main components:
Small-Size League
In this league two teams composed of five autonomous robots
each compete against each other in a medium size field.
RoboCup 2007 Results
Vision System
 Two video signals captured by the cameras mounted on top of the
field are digitally processed.
 Calibration, Segmentation and Recognition of objects on the field.
 The position of the ball and the robots is calculated.
Artificial Intelligence System
 Responsible for remote control of the robots.
 Makes strategic decisions based on different roles and priorities.
 Prevents collision with other robots.
Fastest league and one of the most thrilling to watch.
Block diagram of a typical Small-Size League system
REU 2007
Robots
 The team consist of five identical omni-directional robots.
 The main robot components are:
 Four motors for the wheels and one for the dribbler.
 Low resistance solenoid for the kicker.
 Digital Signal Processor board.
 Transceiver (869MHz or 914MHz)
 Lithium Polymer batteries
Our team only made it to the quarter finals. Some problems with
the hardware composition of our robots were identified:
 Kicker failure due to broken sensor.
 Inability to successfully complete ball passes.
 Wireless interference.
 Non-functioning Dribbler.
 Robots not as fast as other teams.
Future Work
 Use of microcontrollers for DSP and motors driving.
 New, more powerful, Kicker circuit design. .
 Use brushless motors for increased speed.
 Working Dribbler system.
Join the Team
Our team needs more people to complete a new design of our robots for
next year competitions. Dedicated persons from all areas that can help in the
electronic, mechanical, or software design are welcome to contact the team
director or visit the website: www.usfrobobulls.org
Team Director: Prof. Alfredo Weitzenfeld - [email protected]
References
Referee Box
 The referee communicates external game decisions sending a set
of predefined commands to the AI system.
 Multi Robot Systems: The EagleKnights/RoboBulls Small-Size League
RoboCup Architecture. Alfredo Weitzenfeld
 RoboCup Federation website: www.robocup.org
Department of Computer Science & Engineering
By Eric Z. Garcia