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Transcript Final Presentation
The NAO
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
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
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
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
Major Components
Robot Vision
Robot Locomotion
& Decision Making
Online Resources
Team Development
Windows, Mac, Linux
Linux
Java
Python
Choreographe
Naoqi API
Webots Trackers
OpenCV
Technical Design
Major Components
Robot Vision
Robot Locomotion
& Decision Making
Online Resources
Robot Vision: OpenCV
RGB
HSV
BGR
Grayscale
Robot Vision: In Code
Robot Vision: In Code
Robot Vision: Bounding Boxes
Major Components
Robot Vision
Robot Locomotion
& Decision Making
Online Resources
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
NAOqi: Kick Locomotion
NAOqi: Decision Making
NAO Behavior Tree
Goalie
NAOqi: Decision Making
Behavior
→ init stance
→ find ball
→ block
NAOqi: Decision Making
NAO Behavior Tree
Striker
NAOqi: Decision Making
Striker Behavior
Walk Towards
NAOqi: Decision Making
Major Components
Robot Vision
Robot Locomotion
& Decision Making
Online Resources
Resource: Online Wiki
Future Applications
Memory of World State, Confidences
Artificial Neural Networks
Locomotion Training with Genetic Algorithms
Evaluation
Implements
proposed
solutions?
Evaluation
Implements
proposed
solutions!
Widely available on public git repository:
https://github.com/ChecksumCharlie/nao-ucf
Evaluation
Implements
proposed
solutions!
Widely available on public git repository:
https://github.com/ChecksumCharlie/nao-ucf
Implementation specifically tailored to Webots
Evaluation
Implements
proposed
solutions!
Implementation specifically tailored to Webots
Code with different levels of sophistication
Widely available on public git repository:
https://github.com/ChecksumCharlie/nao-ucf
Evaluation
Implements
proposed
solutions!
Implementation specifically tailored to Webots
Code with different levels of sophistication
All documentation online: NAO UCF website
Widely available on public git repository:
https://github.com/ChecksumCharlie/nao-ucf
Evaluation
Implements
proposed
solutions!
Implementation specifically tailored to Webots
Code with different levels of sophistication
All documentation online: NAO UCF website
Team templates and plug’n’play BTs/FSMs
Widely available on public git repository:
https://github.com/ChecksumCharlie/nao-ucf
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