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    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/89029

    題名: Design and implementation of an autonomous robot soccer system
    作者: Wong, Ching-Chang;Cheng, Chi-Tai;Chan, Hsiang-Min
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System
    日期: 2013-05-03
    上傳時間: 2013-05-04 14:41:46 (UTC+8)
    出版者: Croatia: InTech Open Access Publisher
    摘要: A design and implementation method of a robot soccer system with three vision-based autonomous robots is proposed in this paper. A hierarchical architecture with four independent layers: (a) information layer, (b) strategy layer, (c) tactic layer, and (d) execution layer, is proposed to construct a flexible and robust vision-based autonomous robot soccer system efficiently. Five mechanisms, including (a) two-dimensional neck mechanism, (b) dribble mechanism, (c) shoot mechanism, (d) aim mechanism, and (e) flexible move mechanism, are proposed to let the robot with multiple functions to win the game. A method based on the obtained data from a compass and a vision sensor is proposed to determine the location of the robot on the field. In the strategy design, a hierarchical architecture of decision based on the finite-state transition mechanism for the field players and the goalkeeper is proposed to solve varied situations in the robot soccer game. Three vision-based robots are implemented and some real competition results in FIRA Cup are presented to illustrate the validity and feasibility of the proposed method in the autonomous robot soccer system design.
    關聯: International Journal of Advanced Robotic Systems 10, pp.1-13
    DOI: 10.5772/56189
    顯示於類別:[電機工程學系暨研究所] 期刊論文


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