kor kai presentation
TRANSCRIPT
Kor KaiEngineering Innovator ClubChulalongkorn University
Team's BackgroundKor Kai (ก.ไก�) is the first letter of Thai alphabet.
Formerly known as Chibi Dragon, participated in World Robocup 2010, Singapore.
Team consists of students in Engineering Innovator Club, Chulalongkorn University.
Robot System Overview Four mainly processes
◦vision process : Image capturing, Image processing.
◦localization process : Data filtering, Robot self-localization
◦strategy process : Game planning , Path generation
◦control process : Locomotion, online gate generator, predefined fix motion
Software Architecture Overview
Vision Processcapture image from the camera
use look up RGB threshold table to define the color ◦The threshold is generated in HSL space.
detect interested item in the image
Vision Process
Lookup table file generation software
Vision Process
Line detection software
Localization Processdefine item position in relative coordinate referred from robot position
use particle filter to estimate the robot position on the field
locate the position of the ball and estimate ball velocity
Localization Process
Localization software demo
Strategy ProcessMake decision about what plan shout be used
Decide how to play according to the plan
Generate path from source to destination
Control ProcessMake all motor move correctly
Online gait generator Predefined motionMachine learning
SimulatorGenerate 3-D model of the game field
Helpful to debug some part of the system
Let each part works independently
Simulator
Simulator software demo
ROBOT DEMOBall detection, Locomotion
Q & A