Author :
Kuo, Chung-Hsien ; Yang, Chun-Ming ; Yang, Fang-Chung
Author_Institution :
Graduate Inst. of Med. Mechatronics, Chang Gung Univ., Tao-Yuan, Taiwan
Abstract :
This paper proposes the hands-on implementations of the "Formosa middle size soccer robot", which is developed based on the intelligent vision fusion sensing architecture. The proposed autonomous soccer robot consists of the mechanical platform, motion control module, "MapCam360" omni-directional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, subgoal definition, competition strategies, and obstacle avoidance. Especially, in order to increase the robustness of the vision sensing, the catadioptric omni-directional and front vision modules are dynamically switched according to the ball recognition results of the omni-directional camera. The previous mentioned hardware and software modules and components are all integrated, and the control modes are fused based on the relationships among the positions of the enemy robot, ball, goal, and field boundaries. In order to increase the motility and attackability, we design the dribbling and kicking mechanisms. In addition, the PC-based soccer robot controller is developed based on the embedded Linux platform. The motion control uses the Mitsubishi AC-servo motors and controllers to achieve higher reliability. Finally, the physical robot had been finished and tested, and we also validate the functional performance of "Formosa middle size soccer robot" in terms of participating in the "2004 Taiwan\´s annual middle size soccer robot competition".
Keywords :
Linux; collision avoidance; control engineering computing; image recognition; image reconstruction; mobile robots; motion control; multi-robot systems; reliability; robot vision; sensor fusion; servomotors; Formosa middle size soccer robot; Mitsubishi AC-servo motors; PC-based soccer robot controller; autonomous soccer robot; catadioptric omnidirectional modules; embedded Linux platform; enemy robot; front vision module; front vision modules; image processing; intelligent vision fusion sensing architecture; mechanical platform; motion control module; obstacle avoidance; omnidirectional camera; omnidirectional vision module; real coordinate reconstruction; recognition module; reliability; robot path planning; target object positioning; Image processing; Image recognition; Image reconstruction; Intelligent robots; Motion control; Path planning; Robot kinematics; Robot sensing systems; Robot vision systems; Target recognition;