In this paper, a method for the role construction and recognition of five soccer robots in robot soccer game is proposed. First, five round-shape labels that compose of black and white colors are proposed to recognize the roles of five robots. Then, an angle recognition algorithm is proposed to recognize these five round-shape labels. This round-shape label that composes of black and white color is proposed so that only three kinds of color models (yellow, blue, and orange) to find the positions of enemies, friends, and ball from the captured fields image. In this way, this proposed method could solve the problems that robots cannot be found or the role cannot be recognized correctly when many kinds of color labels are used to recognize the roles of robots. From the real application, we can see that these five soccer robots can be recognized fast and precisely by this proposed method.
Proceedings of 2004 IEEE International Conference on Networking, Sensing and Control，頁1115-1120