Design and Implementation of an Autonomous Robot Soccer System

[摘要] Abstract 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) tactics layer, and (d) execution layer, is proposed to construct a flexible and robust vision-based autonomous robot soccer system efficiently. Five mechanisms, including (a) a two-dimensional neck mechanism, (b) dribbling mechanism, (c) shooting mechanism, (d) aiming mechanism, and (e) flexible movement mechanism, are proposed to mean the robot with multiple functions can win the game. A method based on data obtained 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 implemen...

[学科分类] 自动化工程

[关键词] Soccer Robot;Autonomous Robot;Robotics;Artificial Intelligence;Multi-Agent System