Framework

Dieser Artikel ist in der englischen Sprache verfasst um SSL-Teams auf der ganzen Welt einen Einblick in unser System zu geben.

Amun-Ra

SSL-Vision does not synchronize the cameras, nor is its output in any way synchronized. So, instead of relying on SSL-Vision packets as trigger signal, the main thread is running at a fixed frequency of 100 Hz. This assures a fixed period for the control loop.

State estimates of the robots and ball positions and velocities have to be made at each time-step. This estimation is realized by using a Kalman Filter. To correctly update the filter with measurements from SSL-Vision, the age of this data has to be approximated. The time at which a vision packet has been received from the software is decremented by the execution time of SSL-Vision, which is included in the packet. The network latency can be neglected as it usually well below 1 ms. Ideally, the shutter time of the camera and the latency for the firewire connection should be integrated as well.

There is also a simulation functionality build into Amun. With this feature the A.I can be tested. Small changes or new essential ideas can be checked without real robots. This function rudimentarily simulates the physical laws of robot and ball.

"Ra" - Our FrameworkTo be able to easily configure and test the A.I. and the Amun core, the Ra GUI has been implemented. It features easy access to commonly used functions:

  • Teams configuration
  • Visualization of the vision data
  • Visualization of the A.I. output
  • Debugging of the A.I.
  • Generation of referee instructions, without the need for an external RefBox.
  • Recording of an entire game, including any A.I. decisions
  • Control of the simulation