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F-180 Team
Freie Universität Berlin
Institute of Computer Science
AI Group
FU-Fighters
Mechanics and electronics
Aluminum frame to protect the electronics
Two individual DC-motors for differential drive
Passive sphere for third point of support
Shooting plate controlled by a third motor
On-board microcontroller Motorola HC05
Vision system
NTSC video camera (640x480 Pixel, 30fps)
Searches and tracks colored objects
Determines position of the ball, as well as
position and orientation of all robots
Predicts positions in the next frame and
investigates only small windows of the image
Behavior control
Reactive, layered system of sensors, behaviors,
actuators within a time hierarchy
Higher sensory levels aggregate information
Higher-level behaviors modulate/configure
lower-level behaviors
there is no explicit world model
fast reactions (reflexes) are possible
Radio link
Transceiver working at 433-434.5 MHz
Error tolerant transmission
Packets contain target speeds for the motors
Local control of motor speed
Who built them ?
Our team is composed of three researchers and seven
students from the CS Institute at FU Berlin.
Upper row: Wolf Lindstrot, Prof. Dr. Raúl Rojas, Manuel de
Melo, Dipl.-Inf. Sven Behnke, Oliver Tenchio.
Lower row: Martin Sprengel, Dipl.-Inf. Bernhard Frötschl,
Mark Simon, Peter Ackers, Andreas Schebesch.
Contact
Prof. Dr. Raúl Rojas, Sven Behnke, Bernhard Frötschl
Email: {rojas, behnke, froetsch}@inf.fu-berlin.de
Internet: http://www.inf.fu-berlin.de/~robocup
Phone.: +49 30 838 75 130 / 131 / 133 / 100, Fax: / 109
Mail: FU Berlin, Institut für Informatik, Takustr. 9,
14195 Berlin, Germany
Sponsors
We thank Conrad Electronic, Faulhaber Motors, Siemens
ElectroCom Postautomation and Lufthansa Systems Berlin
for their material and financial support