Intelligence artificielle pour robot destiné à participer à la Coupe De France de Robotique
- Install python 2.7 on your windows/mac/linux
- Install the
numpyand thepyserialpython packagepython -m pip install numpy pyserial
- On Raspberry, disable serial Boot console:
sudo raspi-config [enter] [5]InterfaceOptions->[P6]->disable bootSerial, enable hardware- reboot
- Run the IA with
python main.py
This IA is designed to be easily customizable with new xml files describing the maps, goals, and robots.
The map is the top down 2D view of the environment. It contains the position of the object and obstacles with some metadat like: color of the object, type of object, position to be reached to access it, shape and so on.
The goals are the list of action to be done on the map. They are executed by the IA if the conditions are matched.
The robot is a set of value describing its size, its starting positions on the table, it storage capacity, its connected boards and so on.
All the aspect are described from the following architecture:
- IA
- map
map2017.xml- size
3000x2000 - points of interest
list- name
BlueStartingArea - type
starting_area - color
blue - shape
rectangle x y w h - avoidance area
rectangle x-10 y-10 w+10 h+10 - access position
x y angle
- name
- size
- goals
goalsStategy1FirstRobot2017.xml- goals
list- name
- points
- time to execute
- actions
list- pythonMethod
moveToElement- argument1
name=BlueStartingArea - argument2
speed=0.5
- argument1
- onError
- actions
closeLeftStorageDoor
- actions
- pythonMethod
- conditions
list- or/and
- variable
- name
leftStorage - condition
notZero
- name
- variable
- or/and
- goals
- robot
FirstRobot2017.xml- name
FirstRobot - class
FirstRobot - radius
175mm - startingPositions
- name
Blue side start position - color
blue - x, y, angle
- name
- boards
- name
movingBase V1 - function
movingBase - communication
serial
- name
- equipments
- name
LeftStorageUnit - type
variable - value
0 - max
5
- name
Front IR sensor - type
telemeter - id
0 - x, y, angle
In the robot
- name
- name
- map
All the used (xml) files are declared in the main.py file. It is also where they are loaded and used by the IA. The main.py file is self documented.
All the previous map.xml files are contained in the corresponding folder. Just duplicate and rename the latest one, and edit the point of interest.
To create a new robot, just duplicate a modify an existing robot file, and implement a class which inherits from the actual Robot.py class. It will contain all the custom functions of your robot like openLeftStorage, moveRoboticArm, startCollectedObjectSorting and so on. The default Robot.py class handles the more shared functions like moveToXY or waitForStartSignal. The name of the robot your xml file will be used to find a corresponding python class. The default robot class will be loaded if not found.
name=myRobotinrobots/myRobot.xmlwill loadrobots.myRobot.MyRobotfromrobots/myRobot.pyif it has been added inrobots/__init__.py
To create a new goal file, just duplicate a modify an existing one. Since it will be used with your own robot class, you can use your own robot functions and the ones from the root Robot class. You can also use conditions on the variables (storageLocations) on your robot.
Your robot.xml file list the boards connected to it. It can use the default existing ones like controlPanel, movingBase, or collisionDetector. The IA will look for these boards to execute the movements and receive signals. The communication protocol is described in each files and in the root board.py.
To be loaded, your board must be added in
boards/__init__.py
Please write an issue if any bug is found or if you want to discuss about an implmentation. Notice that the project is still under development (june 2017).