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Robot Soccer Real Madrid Outline • • • • • • Mechanical Simulation Motion Control Vision AI/ROS Questions Mechanical - Completed Mechanical - Completed Simulation • Class Objective Created simulation of a robot soccer game o Have interaction functionality between robots and ball. o Showed that Kalman filter can be implemented and showed that robots show correct self-awareness o Showed some artificial intelligence that can score goal on opponents o Motion Control • Wrote Python script to write and read encoder values to and from motors. • Two RoboClaws, each with UART • Python script from RoboClaw manufacturer • Data to/from encoders can be in quadrature ticks, duty, or integer Motion Control • Figured out friction differences between carpet, field, and in test • Worked with Vision to get a working ball search function. This allows the robot to have the ball in front before going forward. • Got script to have omni-directional motion. • Tick values from encoders allow precise knowledge of movement Vision Vision ROS, AI, and Strategy • Never completed! But, progress has been made… • ROS is on the MinnowBoard • Problems with finding the libraries – RESOLVED • Different processes are communicating ROS, AI, and Strategy Implementing skills by combining vision and motion Questions?