PPT-Folie
Mechanics and electronics
- Aluminum frame to protect the electronics
- Two individual DC-motors for differential drive
- Passive sphere for third point of support
- Shooting plate controlled by a third motor
- On-board microcontroller Motorola HC05
- NTSC video camera (640x480 Pixel, 30fps)
- Searches and tracks colored objects
- Determines position of the ball, as well as position and orientation of all robots
- Predicts positions in the next frame and investigates only small windows of the image