27 lines
1.3 KiB
TeX
27 lines
1.3 KiB
TeX
\chapter{Text to speech}
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During the implementation of our solution for the objective stated in \ref{sec
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problem statement} we included suitable functions to get a feedback about
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what the robot is doing at the moment during code execution. In addition to the
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text output on the console we decided to let the robot speak about what he is
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doing using Voice output. We therefore implemented a Speech output using the
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official Aldebaran NAOqi API \cite{nao} which provides a Text-to-Speech
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function. We implemented the Speech output in such a way, that the robot does
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not repeat the same sentence over and over again, if he remains in the same
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state. We also ensured, that the Speech output does not influence the actual
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execution of the problem solution by running it in a separate thread.
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\chapter{Goal confirmation}
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It makes sense to let the robot check, if he has actually scored a goal after
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he performed a goal kick. We therefore implemented a simple goal confirmation
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algorithm, which is visualized in figure \ref{j figure goal confirmation}. The
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robot tries to find the goal and the ball. If the ball is between both goal
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posts after the goal kick is performed, a successful goal kick is confirmed.
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\begin{figure}[ht]
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\includegraphics[width=\textwidth]{\fig goal-confirmation}
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\caption{Goal confirmation}
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\label{j figure goal confirmation}
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\end{figure}
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