Design of Fuzzy Field Control for a One-on-One Robot Soccer System
碩士 === 國立成功大學 === 電機工程學系 === 89 === This thesis mainly describes the operation and motion control of robots in a fixed field by a global vision system. The control object is that the host computer sends commands to the soccer robot through wireless modem due to the captured images and strategies. On...
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| Format: | Others |
| Language: | en_US |
| Published: |
2001
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| Online Access: | http://ndltd.ncl.edu.tw/handle/15641872642369571200 |
| Summary: | 碩士 === 國立成功大學 === 電機工程學系 === 89 === This thesis mainly describes the operation and motion control of robots in a fixed field by a global vision system. The control object is that the host computer sends commands to the soccer robot through wireless modem due to the captured images and strategies. On the basis of the instructions from the host computer, the soccer robot with mounted microcomputer will perform a suitable action immediately. For the regulation of robot soccer system, we could use one camera above the play-ground to capture the image and use the PC-based image grabber to digitize the raw image. The target object has its specified uniform color, so we can use the RGB values to recognize the target object and calculated its position and direction information under the given environment. Robot soccer game possesses dynamic environments because competitive robots affect the environment in unpredictable ways. A soccer-playing robot has to take an appropriate action according to its surroundings. Thus we propose a real-time fuzzy field control to manipulate the soccer robot. The efficiency and applicability of the proposed methods are demonstrated by computer simulations and real one-on-one robot soccer games.
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