| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 94 === A soccer game strategy is proposed in this thesis for RoboCup small-sized soccer robot. Based on the degree of complexity of the soccer game, the strategy is planned as a four-layer hierarchical structure, namely, the layers of team behavior, robot roles, robot behaviors, and robot actions. First stage of this research, the dynamic model of an omnidirectional robot is analyzed, and inverse dynamic controller and PID controller are designed based on this model. These controllers are simulated by using Matlab in order to check whether their responses to different inputs are stable. Second, these controllers are integrated with image processing, radio frequency transmission, and robot driving system for testing their workability. Adjustment of controller and firmware are made because of the limitation of the robot hardware during problem solving procedure. Finally, by the proven workable controller, robot actions are designed and tested in real soccer robot system.
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