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General information |
| Author |
Wong, Ching-Chang; Cheng, Chi-Tai; Chan, Hsiang-Min |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
A design and implementation method of a robot
soccer system with three vision‐based autonomous robots
is proposed in this paper. A hierarchical architecture with
four independent layers: (a) information layer, (b)
strategy layer, (c) tactics layer, and (d) execution layer, is
proposed to construct a flexible and robust vision‐based
autonomous robot soccer system efficiently. Five
mechanisms, including (a) a two‐dimensional neck
mechanism, (b) dribbling mechanism, (c) shooting
mechanism, (d) aiming mechanism, and (e) flexible
movement mechanism, are proposed to mean the robot
with multiple functions can win the game. A method
based on data obtained from a compass and a vision
sensor is proposed to determine the location of the robot
on the field. In the strategy design, a hierarchical
architecture of decision based on the finite‐state transition
mechanism for the field players and the goalkeeper is
proposed to solve varied situations in the robot soccer
game. Three vision‐based robots are implemented and
some real competition results in the FIRA Cup are
presented to illustrate the validity and feasibility of the
proposed method in autonomous robot soccer system
design. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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