![]() Uses low velosity to controll the ball to the other direction. for defend mode the ball is between the robot gate and it self, so it In both cases the controller tries to go to oponent gate but the ceoficients of the controller are different.įor attack mode because the ball is between oponent gate and robot, it has high velosity to goal. has the ballĭepends on the direction of the ball and the robot and the gate of teams, it defines to attack or defend. Using the algorithm in exercise the robot follows the ball until it reaches near the ball so we asume that the robot has the ball. The main algorithm inlcudes 2 main states: Lab GoalĬonnecting to raspberry pi (robot) using SSH and control it using keyboard (WSAD keys) when robot is exactly behind the ball, direction should be 0, but it's 0.8 and we don't know why. ![]() We're not sure what these variables exactly are, because they work like that most of the time but because of Webots or rcj-soccersim code bugs, sometimes they don't work like that and that causes unstablity of the robot. ![]() With multiple tests understood they probably are sine and cosine of the angle between robot and ball We tested several Kis and Kps and higher Kp is better for response time and higher Kp results better final error. We measured the maximum time of each loop (T = 1.3e-6) and used a time.sleep() to make the total time of each loop constant. In the below graph you can see the graph of controllers motor voltage output response to errors. Another case is the distance between robot and ball, for distances more than 0.05 we use constant v with value of 0.75 but for less there is a PI controller. we defined a flag named turning_flag for the situations that only ω speed is better for the robot. The ceoficients of Integrator (Ki) and Power (Kp) are beeing changed dependent to relative location of robot and ball. To make it simpler we defined a PI_controller class, and used it for ball tracking. with multiple tests understood they probably are sine and cosine of the angle between robot and ball. direction was an array with unknown normalized data between -1 and 1. To get the robot coordination there was a python dictionary variable named ball_data that has two keys named strength and direction. The only difference is robot controllers. The credit of soccer robot simulation is belonged to Adman from this repo rcj-soccersim And, when we have everything prepared, we will get in touch via e-mail with all the teams that filled the form.L, R = 0.02, 0.085 offset = 0.5 vr = ( 2 * v + w * L) /( 2 * R) when Chinese soldiers used to play the game in Tsu’chu. This sport has major events throughout the year, keeping its fans excited. The beautiful game is played by the best players in different leagues globally. Deadline for submitting code should be around 7-10 days before the competition. Soccer is one of the oldest and most popular sports globally. Date: the current plan is to run the actual competition in the weekend of 30-31st January, 2021.We are also working on a demo team with a (very) simple example on how to program the virtual robots. A GitHub page is being prepared with instructions to download and run the code. The soccer simulation competition will run on a Webots world that we are adapting to work with our rules and to accept code in Python. Simulator: we are going to use Webots (open-source robot simulator).Our plan is to post the rules in the next two weeks. You can expect the rules to be a simplified version of the regular rules, with some specific content related to the simulation environment. Rules: we are finalizing the adaptation of the 2021 Soccer rules to the simulated environment.We (the TC) are still working on the implementation of the competition, but it is taking longer than we anticipated. YES! The Soccer Simulation Competition demo is going to happen! The basic idea is to have all teams competing with the same virtual robots in a simulated field. Please, answer the form from the link below until 25th of September, 2020.ĭ Soccer Simulation Demo 2021 We invite all RCJ Soccer teams around the world with participants who are under the RCJ age limit to participate. Then, we can complete the planning and give you more detailed information. Since this is a developing idea, we would like to know how many teams would be interested in participating. Teams should submit their code sometime before the end of this year, and the demo competition would run in January 2021. We plan on using the Webots open-source robot simulator. The rules of the simulated game will be similar to the rules of the real RCJ Soccer competition. Every team would send the code for its own robots (written in Python), and we would run it against the other teams. The OC and TC of the RCJ Soccer would like to hold a Simulated Soccer demo competition for all the RCJ Soccer teams around the world.
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