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SoccerBot

-Vamsheedhar Reddy Alija. SoccerBot. Agent:. Robot Robots are circular and 12cm in diameter. robots can move at 0.3 meters/sec. turn at 360 degrees/sec. Soccer Field. Sensors. Encoders. Ultrasonic distance measurement sensors. Effectors.

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SoccerBot

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  1. -Vamsheedhar Reddy Alija SoccerBot

  2. Agent: • Robot • Robots are circular and 12cm in diameter. • robots can move at 0.3 meters/sec. • turn at 360 degrees/sec.

  3. Soccer Field

  4. Sensors • Encoders. • Ultrasonic distance measurement sensors.

  5. Effectors • Kick the ball at 0.5 meters/sec. • Push the ball by driving over it. • Set desired heading. The robot can turn at 360 degrees/sec. • Set desired speed, up to 0.3 meters/sec.

  6. Functionality or Control Mechanism

  7. Obstacle Avoidance (OA) • Makes the agent circumnavigate the closest obstacle. • Repulsive Force • This repulsive force is decomposed into 2 components.

  8. Drive towards Goal Point (DTG) • Makes the robot move towards the goal point. • Attractive Force. • This attractive force is decomposed into 2 components.

  9. Behavior Arbitration • If the robot sensed the obstacle while moving towards the goal. • Both the requests are partially fulfilled.

  10. Experiments

  11. References • www.cse.ohio-state.edu/~dbyron/630/finalweek.pdfhttp://www.enformatika.org/journals/1305-2403/v1/v1-4-58.pdf • http://www.cs.cmu.edu/~trb/TeamBots/Domains/SoccerBots/index.html#HOWITWORKS

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