Multi-robot coordination strategy for 3 vs. 3 teen-sized humanoid robot soccer game

Nien Chu Fang, Ting Nan Tsai, Li Fan Wu, Chuan Han Cheng, Chian Yi Huang, Chun Yuan Liu, Tzuu Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a multi-robot coordination strategy system concerning 3 vs. 3 teen-sized humanoid robot soccer game. Three main technologies are integrated in the system, including object recognition and self-localization, and coordination strategy. Because the line, ball, and goal posts are colored white, we utilize the contour features to recognize them and calculate their positions in robot coordinate. Hence, suppose the robot position in the world coordinate is known, the position of the line, ball, and goal posts in world coordinate can be determined. We figure out the initial position of the robot and update the position by the value of the Inertial Measurement Unit (IMU) and the estimate movement distance. Every robot transmits its location and his own information to the central control player to construct a global map used to generate a suitable strategy and to assign roles. A simulation software is constructed in this paper. After that, experiments show the strategy is effective on humanoid robots. These results illustrate the efficiency of the proposed coordination strategy.

Original languageEnglish
Title of host publication2017 International Automatic Control Conference, CACS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538639009
DOIs
Publication statusPublished - 2018 Feb 7
Event2017 International Automatic Control Conference, CACS 2017 - Pingtung, Taiwan
Duration: 2017 Nov 122017 Nov 15

Publication series

Name2017 International Automatic Control Conference, CACS 2017
Volume2017-November

Other

Other2017 International Automatic Control Conference, CACS 2017
CountryTaiwan
CityPingtung
Period17-11-1217-11-15

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization

Cite this

Fang, N. C., Tsai, T. N., Wu, L. F., Cheng, C. H., Huang, C. Y., Liu, C. Y., & Li, T. H. S. (2018). Multi-robot coordination strategy for 3 vs. 3 teen-sized humanoid robot soccer game. In 2017 International Automatic Control Conference, CACS 2017 (pp. 1-6). (2017 International Automatic Control Conference, CACS 2017; Vol. 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2017.8284265