教師資料查詢 | 類別: 期刊論文 | 教師: 鄭吉泰 Cheng Chi Tai (瀏覽個人網頁)

標題:Design and implementation of an autonomous robot soccer system
學年101
學期2
出版(發表)日期2013/05/03
作品名稱Design and implementation of an autonomous robot soccer system
作品名稱(其他語言)
著者Wong, Ching-Chang; Cheng, Chi-Tai; Chan, Hsiang-Min
單位淡江大學電機工程學系
出版者Croatia: InTech Open Access Publisher
著錄名稱、卷期、頁數International Journal of Advanced Robotic Systems 10, pp.1-13
摘要A design and implementation method of a robot soccer system with three vision-based autonomous robots is proposed in this paper. A hierarchical architecture with four independent layers: (a) information layer, (b) strategy layer, (c) tactic layer, and (d) execution layer, is proposed to construct a flexible and robust vision-based autonomous robot soccer system efficiently. Five mechanisms, including (a) two-dimensional neck mechanism, (b) dribble mechanism, (c) shoot mechanism, (d) aim mechanism, and (e) flexible move mechanism, are proposed to let the robot with multiple functions to win the game. A method based on the obtained data from a compass and a vision sensor is proposed to determine the location of the robot on the field. In the strategy design, a hierarchical architecture of decision based on the finite-state transition mechanism for the field players and the goalkeeper is proposed to solve varied situations in the robot soccer game. Three vision-based robots are implemented and some real competition results in FIRA Cup are presented to illustrate the validity and feasibility of the proposed method in the autonomous robot soccer system design.
關鍵字Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System
語言英文
ISSN1729-8806
期刊性質國外
收錄於SCI;
產學合作
通訊作者Wong, Ching-Chang
審稿制度
國別克羅埃西亞
公開徵稿
出版型式,電子版,紙本
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