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  • 标题:Modeling and Implementation of Omnidirectional Soccer Robot with Wide Vision Scope Applied in Robocup-MSL
  • 本地全文:下载
  • 作者:S. Hamidreza Mohades Kasaei ; S. Mohammadreza Mohades Kasaei ; S. A. Monadjemi
  • 期刊名称:Brain. Broad Research in Artificial Intelligence and Neuroscience
  • 印刷版ISSN:2067-3957
  • 出版年度:2010
  • 卷号:1
  • 期号:3
  • 页码:65-74
  • 语种:English
  • 出版社:EduSoft publishing
  • 摘要:The purpose of this paper is to design and implement a middle size soccer robot to conform RoboCup MSL league. First, according to the rules of RoboCup, we design the middle size soccer robot, The proposed autonomous soccer robot consists of the mechanical platform, motion control module, omni-directional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, competition strategies, and obstacle avoidance. And this soccer robot equips the laptop computer system and interface circuits to make decisions. In fact, 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. We utilize the sensor data fusion method in the control system parameters, self localization and world modeling. A vision-based self-localization and the conventional odometry systems are fused for robust selflocalization. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. In the control strategies, we present three state modes, which include the Attack Strategy, Defense Strategy and Intercept Strategy. The methods have been tested in the many Robocup competition field middle size robots.
  • 关键词:Mobile robot, Machine vision, Omni directional movement, Autonomous Systems, Robot path planning, Object Localization.
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