Robotic Drone Referee: Difference between revisions
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Revision as of 15:25, 31 March 2016
Abstract
Refereeing any kind of sport is not an easy job and the decision making procedure involves a lot of variables that cannot be fully taken into account at all times. Human refereeing has a lot of limitations but it has been the only way of proceeding until now. Due to the lack of information, referees sometimes make wrong decisions that can sometimes change the flow of the game or even make it unfair. The purpose of this project is to develop an autonomous drone that will serve as a referee for any kind of soccer match. The robotic referee should be able to make objective decisions taking into account all the possible information available. Thus, information regarding the field, players and ball should be assessed in real-time. This project will deliver an efficient, innovative, extensible and flexible system architecture able to cope with real time requirements and well-known robotic systems constraints.
Introduction - Project Description
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System Architecture
Brief
System Architecture - Design Choices
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Detailed System Architecture
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Proof of Concept (POC)
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Use Case-Referee Ball Crossing Pitch Border Line
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Proof of Concept Scope
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Defined Interfaces
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Developed Blocks
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Rule Evaluation
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World Model - Field Line Estimator
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Detection Skill
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World Model - Ultra Wide Band System (UWBS) - Trilateration
One of the most important building blocks for the drone referee is a method for positioning. At all times, the drone state, namely the set {X,Y,Z,Yaw}, should be known in order to perform the refereeing duties. Of the drone state, Z and the Yaw are measured by either the drone sensor suite or other programs as they are required for the low-level control of the drone. However, in order to localize w.r.t. the field and to find X and Y, a solution has to be found. To this end, several concepts were composed. Of those concepts, trilateration using Ultra Wide Band Anchors (UWB) was realized. For more details, go to WM – UWBS – TRILATERATION. First, the rejected concepts are shortly listed, followed by a detailed explanation of the UWB system.
Integration
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Tests & Discussion
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Researched Blocks
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Sensor Fusion
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Cascaded Classifier Detection
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Position Planning and Trajectory planning
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Motion Control
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Localization
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Discussion
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