Full autonomous middle size soccer robot

Ying Jie Ye, Yi Rung Yang, Tzuu Hseng S. Li

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

The purpose of this paper is to design and implement a robot soccer game to conform RoboCup middle size league. First, according to the rules of RoboCup, we design the middle size soccer robot, which includes the independent image processing system and mechanical architecture. And the soccer robot equips the on-board computer system and interface circuits to make decisions. Second, the omnidirectional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and target tracking. The boundary-following algorithm (BFA) Is applied to find the important features of the field. In the control strategies, we present five state modes, which include the chasing ball mode, the catching ball mode, the shooting ball mode, obstacle avoidance mode and the defense mode. The soccer robot implemented for testing the performance of the proposed algorithm has shown that it chases a dynamic target successfully in the competition. And the experimental results confirm the methods finally.

原文English
主出版物標題Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
頁面451-456
頁數6
DOIs
出版狀態Published - 2005 12月 1
事件2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
持續時間: 2005 7月 102005 7月 12

出版系列

名字Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
2005

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
國家/地區Taiwan
城市Taipei
期間05-07-1005-07-12

All Science Journal Classification (ASJC) codes

  • 工程 (全部)

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