F-180 TeamFreie Universität Berlin

Institute of Computer ScienceAI Group

FU-Fighters

Mechanics and electronics

Aluminum frame to protect the electronicsTwo individual DC-motors for differential drive Passive sphere for third point of supportShooting plate controlled by a third motorOn-board microcontroller Motorola HC05

Vision system

NTSC video camera (640x480 Pixel, 30fps)Searches and tracks colored objectsDetermines position of the ball, as well as position and orientation of all robotsPredicts 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 hierarchyHigher sensory levels aggregate informationHigher-level behaviors modulate/configure lower-level behaviorsthere is no explicit world modelfast reactions (reflexes) are possible

Radio link

Transceiver working at 433-434.5 MHzError tolerant transmissionPackets contain target speeds for the motorsLocal 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 FrötschlEmail: {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: / 109Mail: FU Berlin, Institut für Informatik, Takustr. 9, 14195 Berlin, GermanySponsors

We thank Conrad Electronic, Faulhaber Motors, Siemens ElectroCom Postautomation and Lufthansa Systems Berlin for their material and financial support