Abstract:
The primary objective is to address the field of multi agent cooperative
environment, to develop such algorithms to enable machine-machine interaction with
no human involvement. The secondary objective is to participate in the RoboCup 2015,
to demonstrate our work in this field. Our aim is to compete with different teams from
all over the world, who are working in the same area of research. The target is the
Standard Platform League (SPL) in RoboCup 2015. In this league all teams use
identical (i.e. standard) Aldebaran’s NAO Humanoid Robots. Therefore the teams
concentrate only on software development, while still using state-of-the-art robots.
The project is divided into different modules which are vision, localization,
kinematics, path planning, artificial intelligence and architecture. The vision module is
able to identify both static and dynamic elements such as robots, balls and other
landmarks in the field in a suitable amount of noise with considerable amount of
accuracy. The localization module intelligently localizes the robot’s position inside the
field utilizing the landmarks information coming through the vision module. The
kinematics module is able to kick the ball in a particular desired direction with variable
speed. The artificial intelligence module is able to intelligently assign roles to the
particular robot depending on the situation of the soccer field. Also the path planning
algorithm is able to find the best possible path solution of making a successful goal
kick. The architecture is used to implement an intelligent state machine to carry out the
game play.
Team-NUST is the only team from South Asia to have qualified to participate
in RoboCup SPL 2015 to be held in Hefei, China. This project is able to provide a basic
module for the future contributors of Team-NUST and participants of RoboCup and
also able to contribute towards the 2050 goal of RoboCup.
