| Summary: | 碩士 === 國立成功大學 === 電機工程學系 === 89 === This thesis is devoted to designing and implementing a one-on-one robot soccer system, which can be considered as a visual servoing system. From the CCD camera, the host computer grabs the image of the field globally, calculates the control strategies, and sends the desired commands to the robot via wireless modem. The FPGA chip mounted on the robot will be responsible for the signal processing of the robot, and determine the speed and the relative rotation of the step motors based on the fuzzy logic control. In this thesis, the structure of robot soccer system will be firstly introduced, including of the image processing system, the wireless communication system and the whole setup of the robot. Then, the attacking and defending strategies and motion control of the soccer robot will be addressed in detail. Finally, a real one-on-one robot soccer game is performed. Both computer simulations and the practical experiments are used to demonstrate the feasibility and effectiveness of the proposed system.
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