CMU Hammerheads Team Description
In this paper the design of the CMU Hammerhead middle-size robot soccer team is presented. The team consisted of 4 fully autonomous robots with wireless communication and color vision. The robots’ color segmentation algorithm, CMVision, provided reliable,
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fremery,trb,[email protected], fkws,[email protected] http://www.cs.cmu.edu/~coral/minnow
1 Introduction In this paper the design of the CMU Hammerhead middle-size robot soccer team is presented. The team consisted of 4 fully autonomous robots with wireless communication and color vision. The robots' color segmentation algorithm, CMVision, provided reliable, real-time ball tracking and was tolerant to changes in lighting conditions. The robots' software architecture was implemented using TeamBots, a Java-based environment for behavior based robot control, and Clay, a TeamBots module for creating motor-schema based control systems. The use of behavior-based control allowed to the robots to react quickly to the dynamic environment despite non-holonomic platforms. The team included some teamwork by sharing information about the ball's location and the states of other team members. The CMU Hammerheads made it to the quarter nals of the competition.
2 Team Development The CMU Hammerheads were lead by Rosemary Emery. Rande Shern, Kevin Sikorski and Ashley Stroupe were the other graduate students on the team. Tucker Balch was the faculty advisor, with additional strategy advice provided by Manuela Veloso. Jim Bruce, Scott Lenser and Zia Kahn helped with the integration of CMVision with TeamBots.
3 Hardware Platform Each CMU Hammerhead robot is identical, and is constructed from readily available commercial components. The robots are non-holonomic and composed of two main parts, a di erential drive Cye robot from Probotics, Inc., and a passive trailer. Each robot covers an area of 30cm x 40cm, weighs 8kg, and costs under $3000.00 in total. The trailer, which carries the robot's on-board computer, batteries and wireless ethernet, is free to rotate around the Cye. A color video camera is mounted on a shaft that rotates with the Cye. Wireless communication is via an 11 Mbps Lucent waveLanPC wireless Ethernet converter box. P. Stone, T. Balch, and G. Kraetzschmar (Eds.): RoboCup 2000, LNAI 2019, pp. 575-578, 2001. c Springer-Verlag Berlin Heidelberg 2001
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Fig. 1.
A CMU Hammerhead robot and the on-board computer.
The Cye robot is a two-wheeled di erential drive robot with an on-board 16 bit microcontroller with a serial interface. The Cye's innovative wheel design produces exceptional odometry on soft surfaces such as carpet. The unit's onboard computer keeps track of X, Y, and heading information for dead-reckoning and motion control. The robot's re-chargeable battery allows up to 3 hours of continuous running time. The computer on the trailer is built from o -the-shelf components. It is a single board, P2 300 MHz Biscuit PC with 256 Megs of RAM and a 2 Gig HD. We run Linux RedHat 6.1 on the computer. A Winnov video capture card is plugged into the single PCI slot and the wireless Ethernet radio is connected via a 10-baseT connector. Power is supplied by an iron core battery and is regulated by a PC/104 DC to DC converter. This 8lb battery allows the computer to run continuously for at
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