Robotic billiard : vision and decision-making system

• Main Author: Sun, Hanjie
• Other Authors: Zhang Yilei
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/74371
• Institution: Nanyang Technological University

This report presents a robotic solution to the game of pool where an intelligent pool system will attempt to automatically perform the complex functions of playing the billiards. The intelligent pool robot integrated three parts of function (perception, decision-making and action-taking) and two system platforms. The key features of the report cover the design of vision system to detect billiard location and the algorithm of best shot selection strategy. The objective of the research is to purpose a smart decision system of pool robot, implements independently without human help and establish shot strategy for a sense of global consciousness. The experiment of robot performance testing will be conducted to see how difficulty of a shot can be potted and tolerance limit of the system. Besides, the system can also support the experiment of English, high-angle and jump shot. The overall operation of robot playing pool goes through is like that of a human behaviour. A coordinate is established and the positions of the billiards on the table are found by the vision system of the pool robot. Then these location data are processed by a decision system that will select the most feasible shot to play. Finally, a series of commands are translated to a ABB robot arm that it will move to a specific location in order to sink a ball.