1. Robot Soccer
Real Madrid

2. Outline
Mechanical
Simulation
Motion Control
Vision
AI/ROS
Questions

3. Mechanical - Completed

4. Mechanical - Completed

5. 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

6. 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

7. 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

8. Vision

9. Vision

10. 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

11. ROS, AI, and Strategy
Implementing skills by combining vision and motion

12. Questions?