Eagle Knights: RoboCup Small Size League. Dr. Alfredo Weitzenfeld ITAM - Mexico
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1 Eagle Knights: RoboCup Small Size League Dr. Alfredo Weitzenfeld ITAM - Mexico
2 Playing Field and Robot Size camera 15 cm 4 m 18 cm 4 m 5.5 m
3 Distributed Robot Control
4 Eagle Knights ( )
5 Robot System Object Recognition & Identification Robot Position & Orientation Game Controller Game States & Referee Commands Wireless Communication Motion Control Vision Localization Artificial Intelligence Wireless Communication : Global Vision (multiple cameras), remote processing
6 Vision COLOR CALIBRATION IMAGE CAPTURE SEGMENTATION RECOGNITION IDENTIFICATION Object Recognition & Identification
7 Image Capture Two color digital video cameras with IEEE1394/FireWire (previously analog cameras and PC video board with SVideo) Frequency (30 fps - frames per second) Resolution (320 x 240 pixels)
8 Color Calibration YUV luminosity (Y), chromaticity (UV) 5 colors: ball (orange) and markers/patches (yellow, blue, light green, white)
9 Segmentation Classify and filter 5 colors orange, yellow, blue, light green, white
10 Segmentation Blob Formation RLE - Run Length Encoding* Color region compression algorithm Pixel lines, y: 0-143, x: *
11 Ball (orange) Robots Recognition Own - Central markers (yellow/blue) Adversary - Complementary central markers (blue/yellow)
12 Identification Ball Robots Own - Surrounding markers (light green, white)
13 Localization GEOMETRIC CALIBRATION Object Recognition & Identification POSITION ORIENTATION Object Position & Orientation
![Localization Geometric Calibration Calculate Lens Distorsion Tsai [1987]](/docs-images/83/87872707/images/14-1.jpg "algorithm to eliminate camera lens distorsion. R. Y.")
14 Localization Geometric Calibration Calculate Lens Distorsion Tsai [1987] algorithm to eliminate camera lens distorsion. R. Y. Tsai, A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the-Shelf TV Cameras and Lenses, IEEE Journal of Robotics and Automation,vol. 3, pp , 1987.
15 Geometric Calibration Localization Calculate Image Overlap Field Corners (2 points) MidField (overlapping 3 points)
16 Localization Position Calculation Compute Object Centroids Apply Lens Correction to Centroids Transform to Field Coordinates
17 Localization Orientation Calculation Compute robot surrounding markers centroids Compute robot surrounding markers relative position Compute robot surrounding markers orientation
18 Artificial Intelligence GAME CONTROLLER Object Position & Orientation BEHAVIORS COLLISION DETECTION MOTION CONTROL Motion Control
19 Game Controller Computer controlled by human referee sending game states to teams.
20 Behaviors Control Interface Roles Goalie Defender Attacker Kicking Direction Active Robots Strategy Defensive Offensive
21 Behaviors Basic Reach & Kick Behavior ball_near Reach Ball ball_far Circle Ball Kick Ball ball_very_near Zone Goalie Defender Attacker Reach & Kick Pass Receive Track Ball/Player Special Plays
22 Collision Detection Collision Avoidance
23 Wireless Communication Communication Motion Commands (wheels & dribbler) Action Commands (kicker) 20 byte messages (4 bytes per robot) Transceiver (413/433 MHz or 869/914 MHz) Single/Dual Direction
24 Differential (2003) Orientation Motion Control Forward/Backward Motion Omnidirectional (Holonomic) Integrated Vector Motion 3 wheels (2004) 4 wheels (2005)
25 Motion Control Motor Commands Transceiver Motor Encoder PID PWM PWM corrected DSP
26 Robot Design MOTOR (4) ENCODER (4) MOTION CONTROL WIRELESS COMMUNICATION (Transceiver) DIGITAL SIGNAL PROCESSOR (DSP-TI-2812) DRIBBLER CONTROL KICKER CONTROL MOTOR SOLENOID
27 Eagle Knights SSL Results th World RoboCup, Bremen, Germany, June 2006 (1st round) 1st Latin American RoboCup Open, Sao Luis, Brasil, Sept 2005 (1st place) 9th World RoboCup, Osaka, Japan, July 2005 (1st round) 3rd Latin American Robotics Comp, Mexico City, Oct 2004 (1st place) 2nd US Open Robocup, New Orleans, May 2004 (2nd place) 1st US Open Robocup, Pittsburgh, May 2003 (3rd place)
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