This time I’m going to present the Football player we had to developed for the embedded robotics course, as a part of my MsC in Computer science.
The objective was to create a two wheeled robot with a single camera which would work autonomously to find the ball and score a goal.
Here are the hardware and software specifications, a link to the source and some documentation if you want to learn a bit more.
- Ubuntu 11.04 installed in the Beagleboard
- video4linux for video capturing from the USB camera
- source code (developed using lua 5.1 and some c from the v4l binding for lua)
The robot behavior was developed as a reactive paradigm, using a subsumption architecture .
The whole documentation can be found here (they are in Spanish, so if you have trouble reading using a translator, just ask):
Part 1, Building the wheeled robot and an ax12 API for lua
Part 2, Developing the kicker behavior
Some images and videos
Here is a video of the robot scoring a goal 🙂