Heute ist ein wich­ti­ger Tag in Hin­blick auf meine Diplom­ar­beit, denn die Auf­ga­ben­stel­lung wurde geschrie­ben und ein­ge­reicht. Sie wurde von Rick geschrie­ben, dem Pro­fes­sor, der mich hier betreut (Photo). Sie lautet

Algo­rithm Deve­lop­ment and Tes­ting for Four Leg­ged Lea­gue Robot Soc­cer Pas­sing

Diplo­mat Pro­ject pro­po­sal for Flo­rian Knorn, Unvier­sity of Mag­de­burg

Intro­duc­tion:
This pro­ject is moti­va­ted by expe­ri­ence at the Uni­ver­sity of New­castle in par­ti­ci­pa­ting in the Robo­cup Inter­na­tio­nal, Four Leg­ged Soc­cer com­pe­ti­tion. In this com­pe­ti­tion, to the pro­po­sers know­ledge, prac­tical algo­rithms for deve­lop­ment of
pas­sing beha­viours, whilst highly desi­ra­ble, have not suc­cess­fully been imple­men­ted. Pre­viously, limited sen­sor infor­ma­tion and kicking accu­racy have restric­ted the abi­lity of teams to deve­lop hig­her levels of coope­ra­tive beha­viour. It is now recognised that some of the lower level algo­rithms such as loca­li­sa­tion and kick selec­tion have deve­l­o­ped to the point where hig­her level algo­rithm deve­lop­ment is now nee­ded. The pro­po­sed pro­ject tack­les an import­ant part of this in deve­lo­ping deli­be­rate ball pas­sing algo­rithms, both at a high level, and inclu­ding rele­vant enhan­ce­ments to lower level modu­les to faci­li­tate this beha­viour. The pro­ject will involve algo­rithm deve­lop­ment, simu­la­ti­ons stu­dies, soft­ware imple­men­ta­tion, tes­ting and debug­ging on the Sony Aibos.

The Pro­ject:
The pro­ject requi­res the stu­dent to make and inte­grate deve­lop­ments in several areas. Firstly, the stu­dent will need to make enhan­ce­ments to the deci­sion making and kick exe­cu­tion in the pas­sing robot. This will involve the use of poten­tial fields (pos­si­bly sin­gle dimen­sio­nal) for stra­te­gic deci­sion making, plus beha­viour deve­lop­ment for obst­a­cle avo­idance and kick ori­en­ta­tion, fol­lo­wed by new kick exe­cu­ti­ons with impro­ved con­trol of dis­tance and timing if necessary. The second area of work is in rela­tion to the kick recei­ver. The stu­dent will design new algo­rithms for posi­tio­ning prior to the kick being exe­cu­ted, and cor­rec­tion of posi­tion whilst the ball is in motion. The stu­dent will also be requi­red to con­duct tes­ting, rede­sign, debug­ging and tuning of exis­ting exten­ded Kal­man fil­ter algo­rithms for ball velo­city esti­ma­tion. The stu­dent should also deve­lop and test ball ‘trap­ping’ algo­rithms, capable of taking a moving ball, directly into a robot ‘grab’. The third area of work is in rela­tion to the coope­ra­tion nee­ded to effec­tively com­plete the ball pass beha­viour. This will include com­mu­ni­ca­tion bet­ween the robots to coor­di­nate beha­viour, and also com­mu­ni­ca­tion to improve ball posi­tion esti­ma­tion by incor­po­ra­ting timing and velo­city infor­ma­tion deri­ved from the kicking robot.
The stu­dent will demons­trate the inte­gra­tion of these new algo­rithms in the exis­ting soft­ware sys­tem to show deli­be­rate team pas­sing beha­viour.

 – 

Pro­fes­sor Richard H. Midd­le­ton
ARC Centre for Com­plex Dyna­mic Sys­tems and Con­trol
The Uni­ver­sity of New­castle, 2308
Australia

Na dann mal los …