Application of Visual Servo Control on One-on-one Soccer Robot Systems

• Main Authors: Yun Hua Chung, 鍾韻華
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/02640177679252788220

碩士 === 淡江大學 === 機械工程學系 === 90 === This research implements a visual servo control scheme for soccer robot systems. The control scheme includes algorithms for image process and robot motion control. Several color models are investigated and one of them is chosen for image pattern recognition. Furthermore, an efficient method is developed to scan bitmap images. This thesis also proposes an Action Selection Mechanism (ASM) and a path-planning algorithm for robot motion control. The ASM assigns an action mode to a robot according to the location of the robot in the soccer field. After the action is selected, the robot system has to construct a path in order to approach the goal position at next time interval. The function of obstacle avoidance is included in the path-planning algorithm in case of the presence of enemy robots on the way to a goal position. The integrated system is tested on a RoboCup soccer field to evaluate the practical usage of the developed system.