tailieunhanh - Robot Soccer Part 5

Tham khảo tài liệu 'robot soccer part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Humanoid soccer player design 93 7. Experiments In this behavior we have presented our behavior based architecture and a complete soccer player application using it. In this chapter we will show the experiments carried out during and after its development. First behavior architecture attempt Not always the first steps are the right ones. In this architecture design the proposed solution wasn t the first approximation we took. At initial we tried to exploit all the benefits that NaoQi provides. This software element lets to decompose our application functionality in modules which cooperate among them to achieve a goal. Each module perfoms some processing task and sends data to other modules. This would lets to implement our architecture in a natural way using this approximation. NaoQi has a funtionality to start and stop calling iteratively a method using a callback to a periodic clock event. This solves the execution cycle to call step method iteratively. Communications among modules are solved by the SOAP messages mechanism that NaoQi provides. We also could use ALMemory as a blackboard where all the information from sensorial components and all the modulations to actuation modules are registered and taken. Even callbacks can be set up in each module to be called each time an interesting value in this blackboard changes. In fact this was the first approach we took to design our architecture. Unfortunately and intensive use of these mechanisms had a big impact in NaoQi performance and some real time critical tasks were severely affected. One of these real time critical tasks is movement generation. When the performace in this task was poor the movement was affected and the robot fallen to floor. General behavior creation process using the proposed architecture The final design tried to use as less NaoQi mechanisms as possible. We use NaoQi to access sensors and actuators but all the communication via SOAP messages are reduced to the minimun possible. .