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Rocío Colón

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  1. Carlos Charles Carlos Galarza Juan G. Arzola Rubén Morales Gladys M. Dones Rocío Colón Liz A. Matos Elmy Morales Carlos Dávila

  2. Giovanni Resto Michael Vega Benjamín Nelson Juan A. Torres José Vázquez Karen Rivera Jorge Rivera Enidia Santiago Wilbert Rodríguez

  3. Robot Soccer 2002 UPRM

  4. 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.

  5. Outline • Leagues Description. • Robots Description. • Wireless Communication System. • Global Vision System.

  6. Junior League Ball 183cm 122cm 45cm

  7. Robot Description Wheels Motors

  8. Robot Description Microprocessor HC-11 or Basic Stamp Bumper Switches

  9. Robot Description Photo resistors

  10. Robot Description 22cm height Area 220 cm2 22 cm Diameter

  11. F180 League 162.5cm Ball 284cm 50cm

  12. Robot Description Wheels Motors

  13. Robot Description Communication Device Microprocessor Kicking Device

  14. Robot Description

  15. 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.

  16. Global Vision System • Computer controls position of the robots through a global camera positioned on top of the center of the soccer court

  17. 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

  18. 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.

  19. 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