robosoccer team mi20 presents … supervisors albert schoute mannes poel current team members paul...
TRANSCRIPT
![Page 1: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/1.jpg)
Robosoccer Team MI20 presents …
Supervisors• Albert Schoute• Mannes Poel
Current team members• Paul de Groot• Roelof Hiddema
Mobile Intelligence Twente
![Page 2: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/2.jpg)
Robot soccer as a scientific “playing field”
Interdisciplinary• Hardware & Software• Sensing & Control• Image processing • Motion planning• Multi-agent collaboration• Communication• Artificial intelligence
International• Championships
(FIRA, Robocup)• Congresses
![Page 3: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/3.jpg)
Mission Impossible ?
![Page 4: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/4.jpg)
International leagues
Robocup• Humanoid• Small size• Middle size• Four-Legged• Rescue• Junior• Simulation• @Home
FIRA• HuroSot• KheperaSot• MiroSot UT team• NaroSot• QuadroSot• RoboSot• SimuroSot
![Page 5: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/5.jpg)
Robocup Humanoid 2 vs. 2 (Osaka 2005)
![Page 6: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/6.jpg)
FIRA Humanoid (Vienna 2003)
![Page 7: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/7.jpg)
Robocup Middle League
![Page 8: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/8.jpg)
Robocup Small League
![Page 9: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/9.jpg)
FIRA Mirosot (11 vs. 11)
![Page 10: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/10.jpg)
• Games between teams of 5, 7 or 11 robots• Camera’s above the field observe the playing• Computers control the robots wirelessly
FIRA Mirosot competitie
![Page 11: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/11.jpg)
MiroSot robots
• Maximal dimensions:7.5 x 7.5 x 7.5 cm
• Two-wheeled differential drive robots
• Board-computer controls wheel velocities
![Page 12: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/12.jpg)
Impression of EC 2005 @ UT
![Page 13: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/13.jpg)
Twente’s robosoccer team
• Started in 2002:
Missing Impossible
Mission Impossible
Mobile Intelligence
![Page 14: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/14.jpg)
Generations of students
1st teamLjubljana 2003
4th teamVienna 2006
![Page 15: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/15.jpg)
Generations of robots
![Page 16: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/16.jpg)
Home base
![Page 17: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/17.jpg)
Computer control
![Page 18: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/18.jpg)
Localization
• Robots have color patches on top
• Design is free, except for obligatory team color
• Design choice:identical or different patterns per robot?
• Identical makes recognition simpler, but robots must be tracked
![Page 19: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/19.jpg)
Vision
![Page 20: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/20.jpg)
Camera image
![Page 21: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/21.jpg)
Color segmentation
![Page 22: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/22.jpg)
Color separation
![Page 23: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/23.jpg)
Region clustering
![Page 24: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/24.jpg)
Camera calibration
• Lens distortion
![Page 25: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/25.jpg)
Image correction
• Remap feature points only
![Page 26: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/26.jpg)
Correction of projective mapping
• Automatic field calibration by 4 known markers
![Page 27: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/27.jpg)
Correct for parallax
![Page 28: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/28.jpg)
Tracking
![Page 29: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/29.jpg)
State estimation
y
x
v
v
y
x
y
x
y
x
State
) θx
y
(x,y)
![Page 30: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/30.jpg)
Result on the screen
![Page 31: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/31.jpg)
Motion Control
• Robots have local PID velocity controllers• Motion commands wheel speeds (vr, vl) cq. lin.
& ang. velocities (v, )• Kinematic robot model
• Higher speeds: account for dynamics!
10
0sin
0cos
y
x
![Page 32: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/32.jpg)
Motion Planning
Driving fast to play the ballwhile avoiding obstacles …
![Page 33: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/33.jpg)
Strategy ?
The team’s magic
![Page 34: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/34.jpg)
System design ?
PlayerAgentPlayerAgentPlayerAgentPlayerAgent
prediction &derivation
Camera
Coachagent
UserInterface
PlayerAgent
Robot
TimageTsettings
Tvision_settings & Tcalibration
Tgame_status & Tscore_board
Tscore_board & Tgame_status
Tworld_data
Tworld_data
Tworld_data
Tcoach_data
Tsensor
Tsensor & Todometrics
Twheel
Motors
State
Tvoltage
Tsensor & Todometrics
Todometrics
User
RFcommunication
Twheel
Tsensor & Todometrics
Vision Measurement
Tsnap_shot
Simulator DLL
Tsnap_shot
Twheel
Tsensor & Todometrics &
Timage
Tgame_status & Tscore_board
Tplayer_data
Tscore_board & Tgame_status
The team’s pain
![Page 35: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/35.jpg)
(Re)designing for the winning team
Initial MI20 multi-agent system architecture:
![Page 36: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/36.jpg)
1st team motion controller
Solve the parking problem:
move to “pose”(x, y, )
![Page 37: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/37.jpg)
… while avoiding obstacles
Vector Field Histogram Corresponding Histogram
Local method:
![Page 38: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/38.jpg)
Trying out in de simulator
![Page 39: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/39.jpg)
Shoot and score!
![Page 40: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/40.jpg)
Shoot and miss!
![Page 41: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/41.jpg)
Improvements
Real Prediction
1
2 2
1
1
2
2
1
Avoid tracking errors by collision analysis
![Page 42: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/42.jpg)
Collision prediction
last1
pred1
pred2
γ
last2
![Page 43: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/43.jpg)
Collision state correction
corr1
corr2last2
pred2
last1
pred1
![Page 44: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/44.jpg)
Collision response model
B
VB
P
n
A
VA
![Page 45: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/45.jpg)
Collision response (cont.)
B
VBωBA
VAωA
P
![Page 46: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/46.jpg)
Improving strategy
Choosing optimal offensive / defensive positions
![Page 47: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/47.jpg)
Improved system structure
• Complete software revision
• Reduced thread concurrency
• Simplified interprocess communication
• Current O.S.Linux Fedora Core 4
![Page 48: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/48.jpg)
Coming soon …
![Page 49: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/49.jpg)
TU Vienna Parade
![Page 50: Robosoccer Team MI20 presents … Supervisors Albert Schoute Mannes Poel Current team members Paul de Groot Roelof Hiddema Mobile Intelligence Twente](https://reader034.vdocument.in/reader034/viewer/2022051621/56649ea85503460f94bac382/html5/thumbnails/50.jpg)
Questions?