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Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot
DOI:
https://doi.org/10.24215/16666038.18.e01Keywords:
Chess, Computer vision, Decision making, Human-robot cooperation, MechatronicsAbstract
This work describes a mechatronic system composed by a robot arm that can play chess autonomously. The system is based on an industrial-grade robot manipulator, a computer vision system, and an open source chess engine. Classification algorithms were implemented in order to detect whether a given chessboard square is occupied, and in that case, if the piece is black or white. Such algorithms were compared in terms of their complexity of implementation, execution time and accuracy of predictions. To achieve an uniform illumination of the chessboard, a theoretical model of an LED illuminance curve was used to find the best orientation for each diode using a genetic algorithm. Both the support base for the LEDs and the chess pieces were made using a 3D printer. This implementation demonstrates the capabilities of the proposed vision-based system, whose complexity can be increased in the future for a number of applications.
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References
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[15] Z. Zhu, X. Qu, G. Jia, and J. Ouyang, “Uniform illumination design by configuration of led array and diffuse reflection surface for color vision application,” Journal of Display Technology, vol. 7, no. 2, pp. 84–89, 2011.
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[2] C. Breazeal and B. Scassellati, “Infant-like social interactions between a robot and a human caregiver,” Adaptive Behavior, vol. 8, no. 1, pp. 49–74, 2000.
[3] K. Dautenhahn and A. Billard, “Games children with autism can play with robota, a humanoid robotic doll,” in Universal Access and Assistive Technology: proceedings of the Cambridge Workshop on UA and AT’02, Springer Verlag, Springer, 2002.
[4] D. Urting and Y. Berbers, “Marineblue: A lowcost chess robot.,” in Robotics and Applications, pp. 76–81, 2003.
[5] S. Sarker, “Wizard chess: An autonomous chess playing robot,” in Electrical and Computer Engineering (WIECON-ECE), 2015 IEEE International WIE Conference on, pp. 475–478, IEEE, 2015.
[6] C. Matuszek, B. Mayton, R. Aimi,M. P. Deisenroth, L. Bo, R. Chu, M. Kung, L. LeGrand, J. R. Smith, and D. Fox, “Gambit: An autonomous chess-playing robotic system,” in Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 4291–4297, IEEE, 2011.
[7] A. Chen, I. Kevin, and K. Wang, “Computer vision based chess playing capabilities for the baxter humanoid robot,” in Control, Automation and Robotics (ICCAR), 2016 2nd International Conference on, pp. 11–14, IEEE, 2016.
[8] A. M. Reza, “Realization of the contrast limited adaptive histogram equalization (clahe) for real-time image enhancement,” The Journal of VLSI Signal Processing, vol. 38, no. 1, pp. 35–44, 2004.
[9] R. Chitrakar and H. Chuanhe, “Anomaly detection using support vector machine classification with k-medoids clustering,” in Internet (AHICI), 2012 Third Asian Himalayas International Conference on, pp. 1–5, IEEE, 2012.
[10] C. Sammut and G. I.Webb, Encyclopedia of machine learning. Springer Science & Business Media, 2011.
[11] F. Wu and Q. Huang, “A precise model of led lighting and its application in uniform illumination system,” Optoelectronics Letters, vol. 7, no. 5, pp. 334–336, 2011.
[12] Y. Ding, X. Liu, Z. Zheng, and P. Gu, “Freeform led lens for uniform illumination,” Optics Express, vol. 16, no. 17, pp. 12958–12966, 2008.
[13] A. J. Whang, Y. Chen, and Y. Teng, “Designing uniform illumination systems by surfacetailored lens and configurations of led arrays,” Journal of display technology, vol. 5, no. 3, pp. 94–103, 2009.
[14] Y. Gu and N. Narendran, “Design and evaluation of an led-based light fixture,” in Proc. SPIE, vol. 5187, pp. 318–329, 2004.
[15] Z. Zhu, X. Qu, G. Jia, and J. Ouyang, “Uniform illumination design by configuration of led array and diffuse reflection surface for color vision application,” Journal of Display Technology, vol. 7, no. 2, pp. 84–89, 2011.
[16] I. Moreno, “Configurations of led arrays for uniform illumination,” in Proc. SPIE, vol. 5622, pp. 713–718, 2004.
[17] D. Whitley, “A genetic algorithm tutorial,” Statistics and computing, vol. 4, no. 2, pp. 65–85, 1994.
[18] F. L. Lewis and F. Lewis, Optimal estimation: with an introduction to stochastic control theory. Wiley New York et al., 1986.
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Published
2018-04-25
How to Cite
Larregay, G., Pinna, F., Avila, L., & Morán, D. (2018). Design and Implementation of a Computer Vision System for an Autonomous Chess-Playing Robot. Journal of Computer Science and Technology, 18(01), e01. https://doi.org/10.24215/16666038.18.e01
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