Soccer RobotsImplementing soccer behaviors in the Webots

simulator for NAO robots.

Kristjan Arumae, Sarah Myhre, Chris Cassian Olschewski

Sponsor: Dr. Gita SukthankarAdviser: Astrid JacksonSenior Design: Dr. Mark Heinrich

The NAO

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

Online ResourcesRobot VisionRobot Locomotion & Decision Making

Team Development

Windows, Mac, Linux            Linux

Java                                   Python

Choreographe                        Naoqi API

Webots Trackers                    OpenCV

Technical Design

Major Components

Online ResourcesRobot VisionRobot Locomotion & Decision Making

Robot Vision: OpenCV

RGB

BGR

HSV

Grayscale

Robot Vision: In Code

Robot Vision: In Code

Robot Vision: Bounding Boxes

Major Components

Online ResourcesRobot VisionRobot Locomotion & Decision Making

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 TreeGoalie

NAOqi: Decision Making

Behavior → init stance→ find ball→ block

NAOqi: Decision Making

NAO Behavior TreeStriker

NAOqi: Decision Making

Striker Behavior Walk Towards

NAOqi: Decision Making

Major Components

Online ResourcesRobot VisionRobot Locomotion & Decision Making

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!

Widely available on public git repository: https://github.com/ChecksumCharlie/nao-ucf

Implementation specifically tailored to Webots

Code with different levels of sophistication

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

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

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