Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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2 Chapter 1. Introduction The preliminary phase of the project has been to study the kinematics problem, which led to the creation of a model system to analyze the relationship between applied forces and motion of the robot. The work proceeded with the design of mechanical parts, using solutions to meet the needs of system modularity and using standard components as much as possible. After modeling the chassis of the robot, and having selected the wheels, the actuators have been chosen. The hardware design has affected the choice of sensors used for estimating thestate of the system, and the design of a microcontroller-based control logic. The last part of the work consisted in carrying out experiments to estimate the position of the robot using the data from the sensors and to improve the performance of the control algorithm. The various contributors affecting the performance of the robot behavior have been tested, allowing to observe differences in performance, and alternative solutions have been implemented to cope with limitations due to low cost of HW and low computational power. 1.3 Achievements We have been able to develop a robot that is able to follow successfully a predefined colored object, thus implementing many interesting capabilities useful for robogames. We have faced some limitations due to the low-cost constraints. The main challenges have been caused by the absence of motor encoders and low-cost optics. We have done some optimizations and tunings to overcome these limitations. 1.4 Thesis Structure The rest of the thesis is structured as follows: In chapter 2 we present the state of the art, which is concentrated on similar applications, the techniques used, and what has been done previously. Chapter 3 is about the mechanical construction and hardware architectures. Chapter 4 is the de-
1.4. Thesis Structure 3 tailed description of the control, what is necessary to replicate the same work. Chapter 5 is the vision system description in detail, what has been done, which approaches are used, and the implementation. Chapter 6 concerns game design for the tests made and the evaluation of the game results. Chapter 7 concludes the presentation.
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17: Chapter 1 Introduction 1.1 Goals Th
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
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5.1. Camera Calibration 53 the prin
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5.1. Camera Calibration 55 Figure 5
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5.1. Camera Calibration 57 Later, i
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5.2. Color Definition 59 warmer (ye
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5.2. Color Definition 61 Anotheraut
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5.2. Color Definition 63 9000 8000
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5.3. Tracking 65 any color values.
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Chapter 6 Game The robot will be us
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• Initialize sensors • Initiali
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If the camera is set to SERVO MID,
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Chapter 7 Conclusions and Future Wo
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ior, which will be useful in the re
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Bibliography [1] Battle bots-http:/
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BIBLIOGRAPHY 79 [25] Han et al. A n
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Appendix A Documentation of the pro
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Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
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B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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