29 lines
1.4 KiB
TeX
29 lines
1.4 KiB
TeX
\section{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{naoqi-sdk} which provides a Text-to-Speech
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function, which, unfortunately is blocking. So we extended the Speech output in
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such a way, that the Speech output does not influence the actual execution of
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the program by running it in a separate thread. We also ensured, that the robot
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does not repeat the same sentence over and over again, if he remains in the
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same state.
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\section{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
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goalposts after the goal kick is performed, a successful goal kick is
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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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