...

<% String title = "ITEE : Research"; %> <% /* this is the parent id (first field in the menuDefinition) */ String sectionId = "5"; /* this is the page id (second field in the menuDefinition) */ String pageId = "52"; %> <%@ include file="/include/header.inc.jsp" %> <%@ page import="java.io.*" %> <%@ page import="java.util.*" %> <%@ page import="java.text.*" %> <% %> <%@ include file="/include/menu.inc.jsp" %> <%-- begin content --%>

Research Report - 2001

Robot Soccer Team

ITEE Supervisor

Dr Gordon Wyeth
Email: wyeth@csee.uq.edu.au
Tel: 3365 3770

The University of Queensland Robot Soccer Team - the UQ RoboRoos - was formed to participate in the Robot Soccer World Cup.

Similar to the human game, robot soccer involves two teams of robots playing a game with rules similar to indoor soccer. In the small size league, the game is played on a field the size of a table tennis table, with five robots on each team. Robots score goals by knocking a golf ball into a goal area at each end of the table. An overhead vision system monitors the game and aids in the control of the robot.

The project was initiated in March, 1998 and was awarded the Runner- up trophy in the 1998 Robot Soccer World Cup held in Paris.

In the 1999 World Cup held in Stockholm, the team blasted through qualification rounds with a 50-1 goal difference over four games. Unfortunately, the team ran into troubles in the quarter final rounds and was eliminated.

The playing team consists of five field robots and one specialised goal keeper robot. The robots have been designed with simplicity and agility in mind. Each robot is driven by a pair of DC motors in a wheelchair configuration. The centre of gravity and turning moment of the robot have been kept minimal to maximise agility. Each wheel carries a high- resolution rotary encoder for velocity control.

A custom built microcontroller board controls the robots. The controller performs the servo loops, and plans paths based on the strategic commands and vision information received from the PC connected to the overhead camera. The robots receive messages from the PC using 418/433 MHz RF modules.

In addition the robots have IR reflective sensors that enable high bandwidth, short range measurement of the ball offset for kicking operations.

The robot team is directed by commands from a PC connected to an overhead colour camera. The vision system can identify objects on the field by their distinguishing colours. The RoboRoos vision system removes background infor- mation by a histogram subtraction method. This allows the system to operate on different fields or under different lighting conditions.

Objects are further identified by their shape and size using parametric vision operators. The system can currently identify objects and report positions at 25 fps.

In 2000, a new team is also being developed the VIPERoos. This team carries on-board cameras and on-board processing. Using the latest in commercial CMOS sensor technology and DSP processing, the VIPERoos can run complex colour vision algorithms on-board at 10 fps. The VIPERoos will compete along with the RoboRoos in the World Cup contest to be held in Melbourne, Australia.

The UQ RoboRoos robots provide a basis for ongoing research into navigation in dynamic environments and emergent multi-agent cooperation. Designing and building the robots has been a highly motivating task for the many undergraduate students involved. The multi- disciplinary nature of the project creates unique project based experiences for the students. Robot soccer will continue to play a role in undergraduate education as well as furthering robotic research. <%-- end content --%>

<%@ include file="/include/footer.inc.jsp" %>