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Carlos Charles Carlos Galarza Juan G. Arzola Rubén Morales Gladys M. Dones Rocío Colón Liz A. Matos Elmy Morales Carlos Dávila Giovanni Resto Michael Vega Benjamín Nelson Juan A. Torres José Vázquez Karen Rivera Jorge Rivera Enidia Santiago Wilbert Rodríguez

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Carlos Charles

Carlos Galarza

Juan G. Arzola

Rubén Morales

Gladys M. Dones

Rocío Colón

Liz A. Matos

Elmy Morales

Carlos Dávila


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Giovanni Resto

Michael Vega

Benjamín Nelson

Juan A. Torres

José Vázquez

Karen Rivera

Jorge Rivera

Enidia Santiago

Wilbert Rodríguez



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Objective

  • Develop a two member team, composed of autonomous robots.

  • Play soccer against an opposing team while only receiving information trough several types of sensors and processing instructions from a microcontroller.


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Outline

  • Leagues Description.

  • Robots Description.

  • Wireless Communication System.

  • Global Vision System.


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Junior League

Ball

183cm

122cm

45cm


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Robot Description

Wheels

Motors


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Robot Description

Microprocessor

HC-11 or Basic Stamp

Bumper Switches


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Robot Description

Photo resistors


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Robot Description

22cm

height

Area 220 cm2

22 cm

Diameter


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F180 League

162.5cm

Ball

284cm

50cm


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Robot Description

Wheels

Motors


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Robot Description

Communication Device

Microprocessor

Kicking Device



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Wireless Communication System

Frequency

914.5 MHz

Baud rate

9,600 bps

  • Data packets will be sent to each Robot by means of RF modules.


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Global Vision System

  • Computer controls position of the robots through a global camera positioned on top of the center of the soccer court


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Global Vision System Process

Camera takes a picture of the soccer field and the image acquisition card stores the image in the computer’s memory.

Image acquisition

Image is simplified to an image consisting of only 8 colors. Solid colors define boundaries in the image.

Image Segmentation

New game state

Object’s position and robot orientation are acquired through algorithms that use the color, area and position of the boundaries of the segmented image.

Object Recognition

Computer AI creates statistics of the current game conditions and interprets them to decide the best play.

Game AI


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Image Segmentation

  • Segment: An area in the image whose properties are used for object recognition.

  • Segments define a robot with two properties:

    • Colors:

      • yellow:computer player

      • black: human controlled player.

    • Position:

      • The initial position of a robot identifies it in the field.

      • Updated by performing a search starting from the previously found position.


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Game AI

  • Game relevant data is calculated

    • Distance between game elements

    • Line of movement of the ball

    • Possible contact points between computer controlled robots and the ball

  • Data is analyzed to decide the best play

  • Individual robot actions are sent to the communication system


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