Robot Soccer LEGO NXT Lund University May 2009, group 3

Final exercise in the course MMT200 Mobile robotics at Lund University, Dept of Design Sciences (Division of Machine Design). Platform: LEGO NXT, leJOS java including compass and IR seeker sensors. The ball is using ir leds. Programs make use of state diagrams, mapping and localization methods together with strategies for making the goal.

Category:

Science & Technology

Tags:

• MMT200
• mobile robotics
• LEGO NXT
• leJOS
• java
• robot soccer
• lth
• lund university
• lund
• sweden
• lego
• 2009
• mkon
• mmkn30
• service robotics
• servicerobotar

[SteveR123456]

how would it react when other robots are chasing the ball

would it go off coarse and chase the robot?

just trying to get some ideas for my asignment

[gbolmsjo]

in principle it search for the ball using the ir sensor. if not visible, it goes in a search mode walking pattern. when it try to do something but nothing happens, it goes into a time out state.

all states are defined in a state diagram with predefined actions or methods / algorithms to use. For example, a time out is measured as not advancing the goal of a state which typical could be to clash into an opponent or moving into a corner (see the corner problem movie).

[SteveR123456]

also how would it react with other robots chasing the ball just wondering cause im currently doing an assessment on this and im struggling

[gbolmsjo]

we did a test as you can see (two movies, search on gbolmsjo and mmt200. No specific work was done on this problem, but it worked better than expected. We thought it would be a sumo chaos, but quite OK.

[SteveR123456]

could you describe how it detects the ball and how the robot decides which goal to score in.

thanks

[gbolmsjo]

ball detection: IR seeker from hitechnic. the ball is from the same company.

a compass is used to indicate the direction of the goal to score in

[SteveR123456]

thanks a lot for all the help cheers.