diff --git a/documentation/introduction.tex b/documentation/introduction.tex index e9b1dbd..4a173b9 100644 --- a/documentation/introduction.tex +++ b/documentation/introduction.tex @@ -3,22 +3,22 @@ RoboCup \cite{robocup} is an international competition in the field of robotics, the ultimate goal of which is to win a game of soccer against a human team by the middle of the 21st century. The motivation behind this objective is -the following: it is impossible to achieve such an ambitious goal with the +the following: It is impossible to achieve such an ambitious goal with the current state of technology, which means that the RoboCup competitions will drive scientific and technological advancement in such areas as computer vision, mechatronics and multi-agent cooperation in complex dynamic environments. The RoboCup teams compete in five different leagues: Humanoid, Standard Platform, Medium Size, Small Size and Simulation. Our work in this -semester was based on the rules of the \textit{Standard Platform league}. In +semester was based on the rules of the \textit{Standard Platform League}. In this league all teams use the same robot \textit{Nao}, which is being produced -by the SoftBank Robotics. We will describe the capabilities of this robot in +by SoftBank Robotics. We will describe the capabilities of this robot in more detail in the next chapter. A couple of words need to be said about the state-of-the-art. One of the most notable teams in the Standard Platform League is \textit{B-Human} \cite{bhuman}. This team represents the University of Bremen and in the last nine years they won the international RoboCup competition six times and twice -were the runner-up. The source code of the framework that B-Human use for +were the runner-up. The source code of the framework that B-Human uses for programming their robots is available on GitHub, together with an extensive documentation, which makes the B-Human framework a frequent starting point for RoboCup beginners. @@ -35,11 +35,11 @@ effective goal scoring will bring the team closer to victory. Secondly, in order to score a goal, many problems and tasks need to be solved, which we will describe in close detail in the next chapter. The work on these tasks would allow us to acquire new competences, which we could then use to complement the -RoboCup team of TUM. Finally, this objective encompasses many disciplines, such +RoboCup team of the TUM. Finally, this objective encompasses many disciplines, such as object detection, mechatronics or path planning, which means that working on it might give us a chance to contribute to the research in these areas. Having said that, we hope that our project will be a positive contribution to -the work, being done at the Institute for Cognitive Systems, and that this +the work being done at the Institute for Cognitive Systems and that this report will help future students to get familiar with our results and continue our work. diff --git a/documentation/perception.tex b/documentation/perception.tex index fc1d13c..6bb008c 100644 --- a/documentation/perception.tex +++ b/documentation/perception.tex @@ -16,7 +16,7 @@ and are assumed to be the center and the radius of the ball. \begin{figure}[ht] \includegraphics[width=\textwidth]{\fig ball-detection} - \caption{Ball detection. On the right is the binary mask} + \caption[Ball detection]{Ball detection. On the right is the binary mask} \label{p figure ball-detection} \end{figure} diff --git a/documentation/tools.tex b/documentation/tools.tex index d2b57c2..242ab5f 100644 --- a/documentation/tools.tex +++ b/documentation/tools.tex @@ -7,38 +7,38 @@ cm tall. Some of its characteristics are: \begin{itemize} -\item Two HD-cameras on the head; +\item Two HD-cameras on the head -\item An ultrasonic rangefinder on the body; +\item An ultrasonic rangefinder on the body -\item An inertial navigation unit (accelerometer and gyroscope); +\item An inertial navigation unit (accelerometer and gyroscope) -\item Internet connectivity over Ethernet cable or 802.11g WLAN; +\item Internet connectivity over Ethernet cable or 802.11g WLAN -\item Single-core Intel Atom CPU and 1 GB of RAM; +\item Single-core Intel Atom CPU and 1 GB of RAM -\item Programmable joints with overall 25 degrees of freedom; +\item Programmable joints with overall 25 degrees of freedom -\item Speakers; +\item Speakers -\item 60 to 90 minutes battery life. +\item 60 to 90 minutes battery life \end{itemize} It can be seen from the specifications list, that the multitude of sensors and -interfaces makes Nao an attractive development platform, suitable for the task -of playing soccer. However, relatively weak CPU and a low amount of RAM require +interfaces make the Nao an attractive development platform, suitable for the task +of playing soccer. However, a relatively weak CPU and a low amount of RAM require the programs running on the robot to be resource-efficient, which had to be -taken into into account during our work on the project. +taken into account during our work on the project. \section{Software} In our project we used \textit{NAOqi OS} as an operating system for the robot. -This is a standard operating system for Nao robots based on Gentoo Linux, and +This is a standard operating system for Nao robots based on Gentoo Linux and it can handle all aspects of robot control, such as reading the sensors, moving the robot and establishing the network connection. -As a framework for the implementation of the desired behavior we chose the +As a framework for the implementation of the desired behaviour we chose the official \textit{NAOqi Python SDK} \cite{naoqi-sdk}. We found this framework easy to use, well documented and also covering most basic functionality that was necessary for us to start working on the project. A further advantage of