Tekmovanje Robo liga FRI : pod žarometi in v zaodrju

Maležič, Jakob (author), Lotrič, Uroš (mentor), Ilc, Nejc (comentor)

Opišemo univerzitetno tekmovanje Robo liga FRI in letošnji izziv. Nadgradimo prejšnji zaledni sistem tekmovanja, ki skrbi za sledenje objektom, strežbo podatkov o igri ter beleženje točk. Sistem pretvorimo iz monolitne v modularno arhitekturo s strežnikom in aplikacijskim programskim vmesnikom, ki uporablja arhitekturni slog za predstavitveni prenos stanja - REST (ang. representational state transfer), ki definira komunikacijo med spletnimi storitvami in nudi končne točke za branje podatkov in upravljanje tekme. Za sledenje objektom uporabimo kamero in značke ArUco. Nato predstavimo glavne probleme sestavljanja in programiranja avtonomnega robota z diferencialnim pogonom za opravljanje tekmovalnih nalog. Preučimo najbolj znane algoritme za iskanje in planiranje poti. Izberemo najbolj primerne, jih implementiramo in ocenimo na poligonu.

• Language: Slovenian
• Keywords: Robo liga FRI, mobilni robot z diferencialnim pogonom, iskanje poti, planiranje poti, avtonomni robot, streznik igre, REST API
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2020
• PID: 20.500.12556/RUL-119679
• COBISS.SI-ID: 30009859
• Publication date in RUL: 10.09.2020

Secondary language

• Language: English
• Title: Competition Robo Liga FRI : under the spotlight and behind the scenes

Abstract

We describe university competition Robo Liga FRI and this year’s challenge. We upgrade the old competition’s backend system, which takes care of object tracking, serving the game’s live data and game score. We transform the system from monolith to modular architecture with the REST API server, which provides endpoints for data access and game control. For object tracking we use a camera and ArUco tags. We then present main problems of constructing and programming of a differential-wheel robot for carrying out tasks specified by the competition. We examine the most used algorithms for path finding and path planning. Then we choose the most suitable ones for the competition, implement them and evaluate them on the field.

• Keywords: Robo liga FRI, differential wheeled mobile robot, path finding, path planning, autonomous robot, game server, REST API