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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2017 International Automatic Control Conference, CACS 2017
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1-6
頁數6
ISBN(電子)9781538639009
DOIs
出版狀態Published - 2018 二月 7
事件2017 International Automatic Control Conference, CACS 2017 - Pingtung, Taiwan
持續時間: 2017 十一月 122017 十一月 15

出版系列

名字2017 International Automatic Control Conference, CACS 2017
2017-November

Other

Other2017 International Automatic Control Conference, CACS 2017
國家Taiwan
城市Pingtung
期間17-11-1217-11-15

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization

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  • 引用此

    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. 於 2017 International Automatic Control Conference, CACS 2017 (頁 1-6). (2017 International Automatic Control Conference, CACS 2017; 卷 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2017.8284265