⚽ LAR_Messi - Autonomous TurtleBot Soccer Player

Precision Robotic Football System

Real-time demonstration of the autonomous scoring system

🏆 System Overview

An autonomous robotic platform that enables TurtleBot to play soccer through:

• Computer Vision - Real-time ball and goal detection
• Path Planning - Optimal scoring trajectory calculation
• Precision Control - Velocity-regulated movement system
• Decision Making - 12-state finite state machine

Technology Stack:

🗂️ Project Structure

LAR_Messi/
├── docs/
│ ├── _build/ # view auto-generated html documentation. "index.html"
│ ├── media/ # Demo video
│ └── conf.py # Documentation configuration
├── src/
│ ├── main.py # Primary control system
│ ├── motor_driver.py # Robot movement control
│ ├── image_processor.py # Vision pipeline
│ ├── scene_info.py # Detection data structure
│ ├── search_engine.py # Scene analysis
│ ├── visualizer.py # Debug visualization
│ ├── hsv_filter.py # Color detection
│ └── path_info.py # Navigation data
└── requirements.txt # Dependency list

📚 Documentation

Sphinx auto-generated documentation

💻 Installation

Clone repository:

git clone https://github.com/Papouc/LAR_Messi
cd LAR_Messi

Install dependencies

pip install -r requirements.txt

Run program

python src/main.py

📊 System Architecture

✅ Code Quality

Run PEP8 check

• flake8

flake8 src/

Expected output:

• mypy

mypy src/

Expected output:

Success: no issues found in 9 source files

👥 Team Members

Adam Hendrych, David Horňáček, Adam Hejtmánek

📅 Last Updated: {05.04.2025} 🏷️ Version: {1.0.0}