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Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr.

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Presentation on theme: "Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr."— Presentation transcript:

1 Soccer Robots Implementing soccer behaviors in the Webots simulator for NAO robots. Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski Sponsor: Dr. Gita Sukthankar Adviser: Astrid Jackson Senior Design:Dr. Mark Heinrich The NAO

2 Project Objectives Create autonomous agents with soccer behaviors in a simulation environment Create resources to guide future students working with the NAO simulator or robots

3 Current State Soccer simulation code is rare Most code develop for SimSpark Complexity through years of iteration Documentation limited and incomplete Difficult to adopt for own purposes, not designed for flexibility

4 Solutions by (Senior) Design Make code public and easily available Develop in Webots for NAO Structure low-level design in a modular, easy to approach way Have thorough and complete documentation Design code for multiple functions

5 Major Components Online Resources Robot Vision Robot Locomotion & Decision Making

6 Team Development Windows, Mac, Linux Linux Java Python Choreographe Naoqi API Webots Trackers OpenCV

7 Technical Design

8 Major Components Online Resources Robot Vision Robot Locomotion & Decision Making

9 Robot Vision: OpenCV RGB BGR HSV Grayscale

10 Robot Vision: In Code

11

12 Robot Vision: Bounding Boxes

13 Major Components Online Resources Robot Vision Robot Locomotion & Decision Making

14 NAOqi: Anatomy of a Kick Legs fixed to constrains Balance activated for support leg Duration for balance leg mode set 3 lists of actuator settings passed 3 time steps passed and motion executed

15 NAOqi: Kick Locomotion

16 NAOqi: Decision Making NAO Behavior Tree Goalie

17 NAOqi: Decision Making Behavior → init stance → find ball → block

18 NAOqi: Decision Making NAO Behavior Tree Striker

19 NAOqi: Decision Making Striker Behavior Walk Towards

20 NAOqi: Decision Making

21 Major Components Online Resources Robot Vision Robot Locomotion & Decision Making

22 Resource: Online Wiki

23 Future Applications Memory of World State, Confidences Artificial Neural Networks Locomotion Training with Genetic Algorithms

24 Evaluation Implements proposed solutions?

25 Evaluation Implements proposed solutions! Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf

26 Evaluation Implements proposed solutions! Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf Implementation specifically tailored to Webots

27 Evaluation Implements proposed solutions! Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf Implementation specifically tailored to Webots Code with different levels of sophistication

28 Evaluation Implements proposed solutions! Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf Implementation specifically tailored to Webots Code with different levels of sophistication All documentation online: NAO UCF website

29 Evaluation Implements proposed solutions! Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf Implementation specifically tailored to Webots Code with different levels of sophistication Team templates and plug’n’play BTs/FSMs All documentation online: NAO UCF website

30 CS Senior Design Year 1 Complete Team Soccer Robots created autonomous agents with soccer behaviors in a simulation environment Team Soccer Robots created resources to guide future students working with the NAO simulator or robots


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