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 Have interaction functionality between robots and ball. Showed that Kalman filter can be implemented and showed that robots show correct self-awareness Showed some artificial intelligence that can score goal on opponents
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?