20.500.12556/RUL-110525 Integracija vidnega zaznavanja in koordiancije gibov robota pri igranju igre Križci-krožci Integration of robot visual perception and hand-eye coordination for playing the game of Tic-Tac-Toe Diplomska naloga obravnava problem programiranja robota NAO za igranje igre Križci-Krožci. Pri tej igri igralca izmenično označujeta prazna polja na mreži s tremi stolpci in tremi vrsticami. Zmaga tisti, ki mu uspe prvemu postaviti tri znake v vrsto. Če se zapolnijo vsa polja in to ne uspe nikomur, je igra neodločena. Pri razvoju take funkcionalnosti lahko dani problem predstavimo kot sklop treh podproblemov. Prvi je ta, da se mora robot zavedati položaja svoje roke v prostoru glede na ostale objekte, da bi lahko dosegel želeno polje na igralni površini. Problem je rešen z izračunom inverzne kinematike s pomočjo regresijske nevronske mreže. Drugi problem je prepoznavanje situacije na igralnem polju, torej kje se igralno polje nahaja in kakšno je trenutno stanje igre. Pri reševanju tega problema so uporabljeni osnovni principi vidnega zaznavanja. Tretji problem je sama strategija igranja, torej izbira poteze, ki bi robota lahko pripeljala do zmage oziroma to isto preprečila nasprotniku. Strategija je izdelana po principu preiskovalnega drevesa Alfa-beta. V tej diplomski nalogi smo vse tri probleme uspešno rešili in implementirali sistem, ki je v igranju igre Križci-Krožci nepremagljiv. This thesis aims to program the NAO robot so that it will be able to play the game of tic-tac-toe, where two players alternately mark empty fields on a game board with three columns and three rows. The goal is to place three crosses or circles in a row before the opponent does so. If there are no more empty fields and no one succeded in doing so, the game ends in a draw. When teaching the robot, this problem can be split into three sub-problems. Firstly, the robot must be aware of the position of its arm in space, so that it is able to reach his goal on the gaming surface. This problem is solved by calculating inverse kinematics using a regression neural network. The second problem is recognizing the current situation, which includes locating the gaming surface and recognizing the state of the game. The program for vision recognition implements basic principles of robot vision. Lastly, the robot plays the game using such a strategy for choosing its next move, that it is most likely to get him victory or to prevent its oponent from doing so. The algorithm used for choosing the optimal move to win the game is based on alpha-beta search trees. In this thesis we succesfully solved all three problems and implemented a system, that is unbeatable at Tic-Tac-Toe. robotika inverzna kinematika vidno zaznavanje teorija iger robotics inverse kinematics visual recognition game theory true false false Slovenski jezik Angleški jezik Diplomsko delo 2019-09-16 13:00:09 2019-09-16 13:00:14 2022-08-22 03:44:18 0000-00-00 00:00:00 2019 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 47721 Boc_Ana_gaja_-_Integracija_vidnega_zaznavanja_in_koordiancije_gibov_robota_pri_igranju_igre_Kriz.pdf Boc_Ana_gaja_-_Integracija_vidnega_zaznavanja_in_koordiancije_gibov_robota_pri_igranju_igre_Kriz.pdf 1 68FD6CEDC0A0B4962B28850AE6850807 dd644631293a544d97c6387b810de170b5de1fe969dd8aec9a518c7d798259e6 2417ed43-a1b7-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=122196 Fakulteta za elektrotehniko 0 0 0