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Description of the Warthog Robotics 2014 project

Rafael, Gustavo, Heloisa, Adam, Fernando, Ivan, Roseli

Warthog Robotics, Trabalhador São Carlos, Avenida 3@@, São Carlos, São Paulo, Brazil

www.warthog.sc.usp.br

Abstract This paper presents the RoboCup SSL team WR Magic developed from 2@}} until 2@}1 by the Warthog Robotics group from the University of São Paulo at São Carlos. This project merges the best features from older projects developed by the groups GEAR and USPDroids. Besides that, it brings a new aluminum mechanical structure with a 3-wheel omnidirectional robust control system, an efficient kicking device, a potential fields-based navigation module and a fuzzy strategy system. The team presents full game capability with accurate and fast responses to strategy and referee commands.

Introduction

At the beginning of 2@}} the groups GEAR and USPDroids merged creating the Warthog Robotics, a group of the departments of Electrical Engineering of the São Carlos School of Engineering and the Computer Sciences of the Institute of Mathematics and Computer Science of the University of São Paulo at São Carlos.

The group counts with about y@ members students of Computer, Electrical and Mechatronic Engineering and Computer Science and develops robotics technologies, applying most of them at the robot soccer. This first project of the group brings features from older projects of GEAR and USPDroids and implements them together with some improvements in a new mechanical structure. The next sections present some WR Magic features details, including the mechanical structure, electronic devices and computer systems.

Mechanical Structure

The mechanical structure was designed to accommodate the locomotion system, with its four Faulhaber 2132 DC motors, gearboxes of U4-r ratio and omnidirectional wheels, capable of providing a maximum speed of 1.E m/s 5 the kicking device, consisting of two 2200 μF and 200 V capacitors and a custom solenoid with a concave plate attached to its axis, that can kick up to j mm/s fast5 and the dribble device that counts with a specific shape-roller coated with an viscoelastic material, mounted on a suspension with shock absorber system and linked to a Microred A DC motor by a 1@r gearbox. The maximum ball coverage when dribbling is }E1. The upper part houses the three electronic boards and the battery. Besides that, it contains ducts for wiring and columns for cover attachment. The cover follows the classic design of the category: a cylinder with opening for the wheels and the kicking and dribble devices, resulting in a robot with }y@ mm height and }j- mm diameter. All mechanical structure is made of aluminum and was machined by the group members, offering a robust, yet light, robot.

Electronic Devices

In order to fulfill the essential requirements of locomotion, kicking and dribbling, three electronic devices were developed: MainBoard, DriverBoard and KickBoard.

MainBoard

The MainBoard is responsible for receiving commands from the artificial intelligence, decoding the command sending commands with SPI to the requested actuators T motors, dribble device and kick board ã. Moreover, it measures information as battery and kick capacitors voltages and sends the them back to the telemetry system.

A dsPIC 11F running at 3@ MIPS is used as the main controller: capturing the sensors, controlling the motors speeds, choosing the radio frequencies and activating the kicking and dribbling devices.

The communication with the strategy is done by the transceiver LAIPAC TRF-2.3G, a cheap but high reliable module that runs at 2.3 GHz and implements features as address attribution, ShockBurst transmition mode and error detection via CRC [}].

DriverBoard

The DriverBoard receives commands from the MainBoard and activates the motors. The control system must assure the proper functioning of the Faulhaber 2132 DC motors, therefore it counts with y}2 lines per revolution Faulhaber IE-2 encoders to measure their real speeds, that act as the feedback of a classic PID controller. The $driving \emph{nist} doner by \emph{nther IC} rh. 2-E \emph{nthar fil} { bridge \emph{nthat mamplifies} \emph{nther mignals} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss} \emph{nthat miss}$

KickBoard

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Computer Systems

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GEARSystem

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The library architecture is minimalist, with four basic elements: Server, Sensor, Controller, and Actuator. The sensors are great teams, players, and halls, and set their information T position, orientation, velocity, wwww. Controllers may read these information and send commands on the actuators T move, kick, dribble, wwww. Actuators read, decode these commands, and execute them.

Strategy and Artificial Intelligence

The strategy is responsible for setting behaviors to the players and planning paths. Some behaviors were defined: defend, intercept, pass and kick. Defend is performed only by the goalkeeper and consists in standing still in front of the goal, protecting it. Intercept shall prevent the ball from going towards the goal. The passing behavior consists in conducting the ball towards the opponent area, preferentially towards a team mate that is close to the area. Finally, kick behavior pulls the ball to the goal. The attribution is flexible: during the game, the coach can choose the best set of behaviors for the game situation using a fuzzy control logic.

The path planning uses the orientated potential fields technique. This technique uses solutions of the elliptic partial differential equations contour value problem to create the potential fields. The Dirichlet contour condition was used [U], where the goals have potential @ and obstacles, }. This technique represents an evolution to the old USPDroids strategy system [j], because it allows the definition of behaviors at the generated trajectories. This is possible due to the definition of a influence vector to the potential field [U].

The utilization of this kind of equations also solves another conventional potential fields problem: the existence of local minimums.

Conclusion and Future Work

The presented project brings a whole set of improvements, taking the group to a highly competitive level. The developed hardware is robust, reliable and provides an excellent platform to the strategy systems. The implemented navigation algorithms allow the robot to move fast and softly in the field, permitting the execution of all desired strategies.

Until mid-2@}3m the computer systems shall be tested harder and some new features may be available either on navigation and strategies or on integration systems, improving the ability of the team.

Acknowledgments

The authors would like to thank all Warthog Robotics team for the help and friendship5 the University of São Paulo for the facilities and financial support5 the Griffus, ETEC Paulino Botelho and F.Luna for the technical sponsorship5 and all others that helped us during the project.

References

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  6. Tseza, w.Kx, omplete r Behavior fr witching r Power r onverter, a r RC r Press, n F2@@1
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