Improved Goalie Strategy with the Aldebaran Nao humanoid Robots* *This research is supported by NSF...
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Transcript of Improved Goalie Strategy with the Aldebaran Nao humanoid Robots* *This research is supported by NSF...
Improved Goalie Strategy with the Aldebaran Nao humanoid Robots*
*This research is supported by NSF Grant No. CNS 1005212. Opinions,findings, conclusions, or recommendations expressed in this paper arethose of the author(s) and do not necessarily reflect the views of NSF.
Importance of New Strategy
• Increase number of goalie saves
• Decrease score deficits• “The best offense is a
good defense”
Current Strategy
Summary• Stands in goal tracking ball• Moves toward ball to block• Moves to crab position or
dives depending on distance to ball
Problems• Ineffective Movement to
Ball• Diving is slow to recover
from• Accurate shots on goal
typically score
Improved Strategy Objectives
• Block primarily by cutting off shot angles
• Dive as little as possible• Keep control of the ball
after blocking the shot• Keep the goalie inside
the penalty box
Tasks
• Increase speed of lateral step
• Trajectory localization• Accurate ball tracking• Crab position close, dive
to cover space
Current Status
– Robot code setup– Understanding the code
and different files– Color tables set
• Tweaking localization• Working on fixed
trajectory
Relevant Work
Localization• Keeping robot on trajectory
Color Tracking• Robot keeping track of the
ball from a distance
Goalkeeping Strategy• Previous improvement of
goalie strategy based on the forest algorithm
Contribution of the work
• Fewer goals for the other team
• A better Nao soccer team
• More wins for UT Austin Villa!!!
Sources
• [1] H. Shi, W. Li, Z. Yu, and Y. Qi, “Research on Goalkeeper Strategy Based on Random Forests Algorithm in Robot Soccer,” 2009 First International Conference on Information Science and Engineering, 2009, pp. 946-950.
• [2] M. Sridharan, G. Kuhlmann, and P. Stone, “Practical Vision-Based Monte Carlo Localization on a Legged Robot,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, pp. 3366-3371.
• [3] S. Zhao, B. Liu, Y. Ren, and J. Han, “Color tracking vision system for the autonomous robot,” 2009 9th International Conference on Electronic Measurement & Instruments, Aug. 2009, pp. 3-182-3-185.