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Please use this identifier to cite or link to this item: http://dspace.unimap.edu.my:80/xmlui/handle/123456789/7308

Title: Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
Authors: S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
S. Alireza, Kasaei
Mohsen, Taheri
Keywords: Mobile robot;Machine vision;Omni directional movement;Autonomous systems;Robot path planning;Object localization;Robots -- Design and construction;Robotics
Issue Date: 11-Oct-2009
Publisher: Universiti Malaysia Perlis
Citation: p.3B2 1 - 3B2 6
Series/Report no.: Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009)
Abstract: 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, omnidirectional 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 self-localization. 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.
Description: Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
URI: http://hdl.handle.net/123456789/7308
Appears in Collections:Conference Papers

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