Download Robot Soccer

Robot Soccer
Real Madrid
Outline
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Mechanical
Simulation
Motion Control
Vision
AI/ROS
Questions
Mechanical - Completed
Mechanical - Completed
Simulation
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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
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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?