From InnoC

Appearance

Robot Eduro was originally designed as an EDUcational RObot for robotic courses on Charles University in Prague. The robot is modular and can be modified for other sizes and purposes: later it was modified for Eurobot 2008, Eurobot 2009, Robotour 2009 contest, advertisement robot for CeBIT and finally for Robot Challenge/Puck Collect contest.

Hardware

Hardware modules are connected via CANbus, standard in automotive industry. Main computer (Linux router with AMD processor and 256MB of RAM) is connected to CANbus by RS232. The computer has Ethernet, one USB port and WiFi. 1GB Compact Flash memory is used for the operating system and file storage.

Software

Due to limited available time was software restricted to version 0 (simplest thing, which could possibly work). First goal was to know current position so Monte-Carlo Localisation (MCL) with side IR range sensors and square map of the playground was used. For pucks detection we used camera with static images. JPEG image from camera was analyzed only for a small region in front of the robot. Pixels were divided into red, blue and white categories. Robot decisions were based on start color (given by switch with LEDs). If the total count of red and blue pixels was larger than some constant, the main program received info about color. It tried to avoid bad color (backup and go home with collected pucks or move to next destination) and detected if own puck was already collected.

Programming Language

Python

Sensors/Actuators

Odometry, IR range sensors (Sharp), IP camera. Camera is a standard IP camera used for survivalence systems with wide view lenses.