Design and Implementation of Double Passing Strategy forHumanoid Soccer Robot
| Autor: | Te-KaiWang, 王德凱 |
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| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 The goal of this thesis is to achieve a technical challenge of double passing soccer game for humanoid soccer robots in RoboCup competition. There are many topics involved in order to finish the entire procedure, such as image processing algorithms, motion control, localization, and a proper scheme of strategy system. The development of vision and strategy system is mainly concerned in this thesis. The image information is captured by a CMOS sensor and then the image data are processed by an embedded CPU board Pico-820. Vision system works on the tasks of object recognition, which includes the goal, landmark poles and the interval of two black poles. A fast object segmentation method in the image with the need of only one execution loop is used to make the recognition more efficient. After recognitions, a simple mean shift algorithm is adopted to further improve the efficiency and performance of vision system. The computational time is reduced greatly by the algorithm and that time can be utilized to do the localization or control strategies. The strategies of double passing of each robot player are illustrated in flowcharts and the communication between them is via wireless network. The strategies of some more detailed situation are also discussed. All the strategies are also processed in Pico-820. Overall functions of vision and strategy system are programmed in C++. Finally, the experiment results demonstrate that the proposed vision and control strategy system can successfully perform the double passing soccer game. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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