Football Table Simulation Visualization Tool

Figure 1: Tool Overview

Information

A simulator is developed to easily test new algorithms without depending on the actual robot. Also, tests can be performed at a faster pase. This makes it easier to study problems such as higher level gameplay strategies. This simulation is created with use of MORSE, which is a Multiple Open Robot Simulation Engine.

Together with this simulator, a visualization tool (GUI) is developed to visualize the sensor data of the football table. This tool is connected with the simulator or the table and provides the interface to the user.

These different systems: Simulator, Football Table and the GUI are connected with use of the Yarp Middleware.

External Documentation

• Report: Development of a Simulation and Visualization Tool for an Autonomous Football Table - Rein Appeldoorn
• MORSE Installation Guide with Yarp support - Ubuntu 10.04 LTS x86

Structure

Figure 1: Structure

The current network-structure of the project is shown in Figure 2.

Middleware

As can be seen, the Yarp Server (which is integrated in the GUI), creates the link between the multiple subsystems.

Tool

The tool contains two elements: Visualization and Simulation. It communicates with the real football table or simulator to visualize the sensor data during a work-out. Starting simulations with use of this tool is not yet possible but can be implemented in the future. For now, the simulations has to be started with use of the MORSE simulator and after that, a connection can be established to visualize the sensor-data of the simulator.

Graphical User Interface

Figure 2: Graphical User Interface

Simulator

Figure 3: MORSE model

Misc

Menu Football table:

Info

• Main Page
• Contact

Hardware

• Ethercat
• Table

Software

• Simulation / Visualization Tool
• Vision
• Motion
• Inter-process communication
• Reinforcement Learning

Repository

• SVN