My Final Year Project Presentation Poster about RoboCup SSL Project.

1. Electrical & Electronics Engineering Department
Project No: 1
Development of Multi-Agent Robot Systems
for Robotic Soccer
by
İbrahim Can Yılmaz
Advisor
Asst. Prof. Dr. Ahmet Özkurt
RoboCup Small-Size League
The RoboCup Small-Size robot soccer League (SSL) is a
research domain to study multi-robot planning and execution
under the uncertainty of real-time perception and motion in
an adversarial environment. The RoboCup SSL is set as a
soccer game between two teams of six robots each, playing
with an orange golf ball in a field of predefined size with line
markings. The top of each robot is a unique colored-coded
pattern to enable a set of overhead cameras to determine the
position and orientation of each robot.
Contents of Project
This part of the Project includes hardware
implementation of fast response robots, processing of
football field, detection and classification of objects in the
field, converting image into marks that represent only
necessary objects (like robots, ball, goal etc.), preparing a user
interface to do some basic movements (displacement,
shooting, passing etc.) with selected robots
How It Works?
System is running in a infinete loop -of course while
program is running- that working between computer,
camera and field. Camera takes a view from the field and
sends the data to computer. Computer processes data and
calculate states of objects. It sends a command to robots
with radio signals. Robots move in the guidance of
computer. Positions and orientations of objects are
changed and everything starts over again.
Hardware Design
Server: It consists of Arduino
UNO and an RF transmitter. It
takes information from Matlab
via serial port and sends it to
the robots.
Robot implementation was
performed by using an
Arduino UNO, RF receiver
and dual motor driver
carrier.
Filtering
Filtering can be called as «thresholding», because
some thresholds are set and the image re-formed by
respect to these thresholds. For example, RGB code of
orange is [255 127 0]. It means the color include full
red, semi green and no blue components. And some
intervals are set by respecting to this values and the
pixels are set as ‘0’ or ‘1’.
Dokuz Eylül Üniversitesi, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği bölümü
Kaynaklar Yerleşkesi, 35160 Buca/İZMİR, TÜRKİYE
Tel: +90 232 301 7155
Object Detection
While acquiring live-image instantaneously, these
colors on the robots are processed and all of them labeled
in a matlab struct. First of all, acquired image to be
subjected thresholding and it is converted black and white
image. After that operation, small groups of pixels are
neglected by using ‘bwareaopen’ command. Eventually,
connected components, in other word pixel groups that are
neighbor with each other, aligned as objects and their some
feature, like area, color or central coordinates etc., can be
saved in a struct.
Converting real-image to virtual-image
Mathematical expressions of shooting
Conclusion
The main idea of this project is to design a well-orginezed multiple robot team which can move in dynamic
environment. The system built on colors and positions of robots and ball.
Robotic Soccer is a highly complex domain that has large
complication for movements of robots in either robotics or path planning strategy. Mobile robots in the project are
designed as differential-drive robots and it makes running on a straight line very difficult. After making sure that ball
casters ann motors are well-placed, movement of robot is controlled instantaneously from vision system. It must be
straightened if it deviates from virtual path.
Global vision is the most important part of this project, because everything recognized from colors and every
movement calculated base on colors. So, the lightning of field come into prominence, because the lightning change too
much the difference between real color and perceived one from camera. Shortly, constant lightning system must be used
to decreasing the faults.