2011 KIPR Autonomous Arial Vehicle Contest

Transcription

1 2011 KIPR Autonomous Arial Vehicle Contest Version /26/11

2 Table of Contents Notes... 3 Sponsors... 4 Goals of the 2011 KIPR Autonomous Aerial Vehicle Contest:... 5 This Year s Challenge... 5 Time Trials!... 5 Challenge 1: Landing in a field... 5 Challenge 2: Carrier Landing... 5 Challenge 3: Navigating to a Location TBD... 5 Arena Layout... 5 Construction Rules... 6 External Communication... 6 External Power... 6 Safety... 6 Game Play... 7 Setup (before Hands Off )... 7 Before the Game Begins (after Hands Off )... 7 After the Task Begins... 7 End of Task... 8 Task Details... 8 Overall Standing Calculations... 8 Page 2

3 Notes This is the public beta release of this game. This game is intended for people with a good knowledge of programming. The Drone functions will be released, but will not be entry level user friendly. Contestants should be ready and willing to report bugs and give contest feedback. For the beta contest, KIPR will send wifi dongles (necessary for the CBC to communicate with the drone), to any party registered for the contest. If your team fails to participate in the contest, you will need to return the dongle, or pay a replacement fee. You will need to provide your own Parrot AR Drone (~$300) available at This is the first KIPR Drone Contest, so be prepared to be flexible during the competition. The contest will take place on Saturday, December 3 rd 2011 at the University of Oklahoma Engineering Practice Facility, in Norman, Oklahoma. The afternoon of Friday, December 2 nd 2011 will be open practice for teams at the official area. Final specifications and clarifications will come after you have registered your team. If you are interested or have any questions, please send an to Drone@kipr.org. To begin the registration process, please send an by October 31 st, 2011 to Drone@kipr.org that includes the following information: Team name Team affiliation (school, group, sponsor name, etc.) Team contact name Team contact address Physical mailing address (for the wifi dongle) Page 3

4 Sponsors Page 4

5 Goals of the 2011 KIPR Autonomous Aerial Vehicle Contest: The goal of this contest is to more widely introduce the concept, capabilities and study of autonomous rotorcraft vehicles to the college and secondary school communities. This contest emphasizes the planning, control, sensing, and system level problem solving required when working with UAVs and hybrid ground/uav systems. Towards this end, all entries are limited to the AR Drone whose mechanics and flight properties are those of a stock vehicle. Teams are strongly encouraged to use a CBC robot controller to control their drone. Additional prizes will be awarded (taking functionality into consideration) for the lowest cost and lowest weight entries. As this contest is for educational purposes, the design and all software used by teams will be published in the Web proceedings of the contest after the conclusion of the contest. The detailed design, real-time stability and power systems for these vehicles are topics for another event. This Year s Challenge Time Trials! There are three separate challenges that will test your drone programming abilities. Awards will be given to the fastest completion of each task and to the fastest overall completion of all three tasks in each class. Final Specifications will be ed to registered teams. Challenge 1: Landing in a field Your robot and drone will start in the starting box, leave the starting box separately and navigate to the green box without touching. Challenge 2: Carrier Landing Your robot and drone will both start in the starting box. Your drone will navigate to the moving platform and land on it. Challenge 3: Navigating to a Location TBD Your robot and drone will both start in the starting box, the drone will fly to the top of the tower to reveal which colored box the drone and robot will navigate to. Arena Layout The arena is a 20 foot by 40 foot floor area, enclosed by netting that extends 20 feet vertically. The starting box is 3 feet by 5 feet centered along the 20 foot edge of the arena. The target areas will all be at least five feet from any edge of the arena. The arena areal will be marked with black tape along the Page 5

6 perimeter and will have netting draped vertically outside of the perimeter. The netting may not be detectable by robots. Construction Rules The following rules apply to all robots to be entered in the KIPR Autonomous Drone Contest: 1. All team entries must fit completely within the starting box. 2. The AR Parrot Drone must be unmodified (with exceptions of software, markings and coloration) with the outer foam ring in place. 3. Other than the four electric fans of the AR drone, no forms of aerial propulsion, including lighter than air gasses and kinetic forces exerted against the ground, may be used to lift, guide or propel an entry in the air. 4. Each team may only have a maximum of four independent structures in the game arena at a time. 5. Each robot must have a name suitable for broadcast over a PA system. 6. The total mass of your team s entry is limited to 10kg 7. A team s entry may be made out of any materials or parts (including Botball and non-botball kits) as long as the entry conforms to the construction rules above. External Communication 8. No external communications (e.g., IR, blue-tooth, wireless, or semaphores) may be used during tournament play. The team s entry must operate autonomously. 9. Inter-robot communication, between robots in a single entry, is allowed and encouraged. External Power 10. No external power sources are allowed. All power supplies used by your entry must fit within the starting box and mass constraints described elsewhere in these rules. Safety 11. Human & Robot Safety: No metal pieces are to be used in effectors that move or rotate at high speed Judges will judge safety. Teams may alert judges to a potential safety hazard, but judges will interpret whether or not a robot is safe, needs to be modified, or is not allowed to run. 12. Electrical tape (either black or white) may be used (or required to be used by judges) to cover metal pieces that are deemed to otherwise be a safety risk to robots or humans. 13. The team s entry may not contain or release pressurized materials at greater than 7 bar (100 psi). 14. The team s entry may not release any liquids during the game, or before, during, or after the game while the team is at the game table. 15. The team s entry may not release any gasses while at the game table that are considered hazardous by the judges, or are at a temperature below 0 o C (32 o F) or above 50 o C (122 o F). Page 6

7 16. Robots may not contain features (manipulators, protrusions or materials) that are designed to, or are deemed by the judges likely to, cause damage or destruction to the game arena, or to game pieces. 17. A team s entry may not contain features (manipulators, protrusions or materials) that are designed to, or are deemed by the judges likely to, cause jamming or entanglement of the arena or game pieces are not allowed. 18. If a robot is not considered safe, as decided by the Head Judge, then the robot will not be allowed to run until it has been modified. Game Play Setup (before Hands Off ) Up to three members from a team bring the team's robot(s) and drone to the challenge arena and perform the set up. Teams will place their robot(s) and drone within their starting box as desired. Prior to the start of the game, teams may position the starting light in their starting box as they wish, provided that the starting light is not in physical contact with any part of your entry or game pieces. When the judges decide adequate time has been allowed for calibration, each team positions/activates its robots and then -- Hands off! If the judges feel a team is taking too long to calibrate, they will issue a 30 second warning. At the end of the 30 seconds, if either team is not ready for hands off, that team will be assigned a fault, and the setup clock will be reset. The target setup time (may be extended at judges discretion) is 120 seconds. Before the Game Begins (after Hands Off ) The starting lights are initiated by the judge and signal to the robots that the round has begun. No part of a team s robot(s) may leave the starting box until the round has begun (movement is OK so long as the starting box boundary isn t violated). If this happens, the judges will call a fault on the team. Team members may not move the starting lights anytime after hands off, however robots may. If a team receives a 2 nd fault in a round, they forfeit the round. Team members may not signal to their robots after hands off, in any way, to start their robots. Each team will be given a single, red Timeout Card labelled with their team number when they register at the tournament site. At any time before hands-off a team may turn in their timeout card and get a 3 minute timeout The team may spend that time in the pit or at the arena or to practice in the arena. Only a single timeout per team is allowed for the challenge. After the Task Begins Once the starting lights have turned on, the round counts unless a judge rules otherwise. At the start of the game the starting lights turn on and robots are allowed to leave the starting box as soon as the lights turn on. Page 7

8 Judges may at any time, while a robot is in the arena, decide that a robot is in violation of construction rules, or that team members are guilty of interference and then disqualify that robot for that round. End of Task The task ends when the objective is completed or 5 minutes, whichever comes first. Task Details More specifics of each task will be released as they become available. Overall Standing Calculations The fastest combined time in each category wins. Each team will have a total of at least four trials (getting to redo one of the tasks). Page 8