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