73 lines
4.2 KiB
TeX
73 lines
4.2 KiB
TeX
\chapter{Conclusion}
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\section{Results}
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In this section we will summarize our most important achievements during the
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work on the project. First, we managed to implement robust detection
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algorithms, on which we could rely when we worked on higher-lever behaviors.
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During our tests, there were almost no false detections, i.e.\ foreign objects
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were not detected as a ball or a goal. Sometimes the ball and the goal were
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missed, even if they were in the field of view, which happened due to imprecise
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color calibration under changing lighting conditions. The goal detection was
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one of the most difficult project milestones, so we are particularly satisfied
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with the resulting performance. It is worth mentioning, that with the current
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algorithm, for successful detection it is not even necessary to have the whole
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goal in the camera image.
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Another important achievement is the overall system robustness. In our tests
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the robot could successfully reach the ball, do the necessary alignments and
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kick the ball. When the robot decided that he should kick the ball, in the
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majority of cases the kick was successful and the ball reached the target. We
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performed these tests from many starting positions and assuming a variety of
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different relative positions of the ball and the goal.
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Furthermore, we managed not only to make the whole approach robust, but also
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worked on making the procedure fast, and the approach planing was a crucial
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element of this. In the project's early stages, the robot couldn't approach the
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ball from the side, depending on the goal position, and instead always walked
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towards the ball directly and aligned to the goal afterwards. The tests have
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shown, that in such configuration the goal alignment was actually the longest
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phase and could take over a minute. Then we introduced the approach planing,
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and as a result the goal alignment stage could in many scenarios be completely
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eliminated, which was greatly beneficial for the execution times. Finally,
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thanks to the strong kick, the goal can be scored from a large range of
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distances, which means that in some situations is not necessary to bring the
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ball closer to the goal, which can also save time.
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\section{Future Work}
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With our objective for this semester completed, there still remains a vast room
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for improvement. Some of the most interesting topics for future work will now
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presented.
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The first important topic is \textit{self-localization}. Currently our robot is
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completely unaware of his position on the field, but if such information could
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be obtained, then it could be leveraged to make path planning more effective
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and precise.
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Another important capability, that our robot lacks for now, is \textit{obstacle
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awareness}, which would be unacceptable in a real RoboCup soccer game. Making
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the robot aware of the obstacles on the field would require the obstacle
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detection to be implemented, as well as some changes to the path planning
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algorithms to be made, which makes this task an interesting project on its own.
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A further capability that could be useful for the striker is the ability to
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perform \textit{different kicks} depending on the situation. For example, if
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the robot could perform a sideways kick, then the goal alignment would in many
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situations be unnecessary, which would reduce the time needed to score a goal.
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In this semester we concentrated on a ``free-kick'' situation, so our robot can
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perform its tasks in the absence of other players when the ball is not moving.
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Another constraint that we imposed on our problem is that the ball is
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relatively close to the goal, and that the ball is closer to the goal than the
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robot, so that the robot doesn't have to move away from the goal first. To be
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useful in a real game the striker should be able to handle more complex
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situations. For example, \textit{dribbling} skill could help the robot to avoid
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the opponents and to bring the ball into a convenient striking position.
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Finally, we realized that the built-in moving functions in NAOqi SDK produce
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fairly slow movements, and also don't allow to change the direction of movement
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fluently, which results in pauses when the robot needs to move in another
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direction. This realization brings us to thought, that the custom-implemented
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movement might result in much faster and smoother behavior.
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