Transcript Kein Folientitel

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