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Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: S. Hamidreza, Kasaei, S. Mohammadreza, Kasaei, S. Alireza, Kasaei, Mohsen, Taheri
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Mobile robot
Machine vision
Omni directional movement
Autonomous systems
Robot path planning
Object localization
Robots > Design and construction
Robotics
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7308
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spelling my.unimap-73082010-01-21T01:37:35Z Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL S. Hamidreza, Kasaei S. Mohammadreza, Kasaei S. Alireza, Kasaei Mohsen, Taheri Mobile robot Machine vision Omni directional movement Autonomous systems Robot path planning Object localization Robots -- Design and construction Robotics Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. The purpose of this paper is to design and implement a Middle size soccer robot to conform RoboCup MSL league. First, according to the rules of RoboCup, we design the middle size soccer robot, The proposed autonomous soccer robot consists of the mechanical platform, motion control module, omnidirectional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, competition strategies, and obstacle avoidance. And this soccer robot equips the laptop computer system and interface circuits to make decisions. In fact, the omnidirectional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and target tracking. The boundary-following algorithm (BFA) is applied to find the important features of the field. We utilize the sensor data fusion method in the control system parameters, self localization and world modeling. A vision-based self-localization and the conventional odometry systems are fused for robust self-localization. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. In the control strategies, we present three state modes, which include the Attack Strategy, Defense Strategy and Intercept Strategy. The methods have been tested in the many Robocup competition field middle size robots. 2009-11-17T07:29:09Z 2009-11-17T07:29:09Z 2009-10-11 Working Paper p.3B2 1 - 3B2 6 http://hdl.handle.net/123456789/7308 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robot
Machine vision
Omni directional movement
Autonomous systems
Robot path planning
Object localization
Robots -- Design and construction
Robotics
spellingShingle Mobile robot
Machine vision
Omni directional movement
Autonomous systems
Robot path planning
Object localization
Robots -- Design and construction
Robotics
S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
S. Alireza, Kasaei
Mohsen, Taheri
Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
format Working Paper
author S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
S. Alireza, Kasaei
Mohsen, Taheri
author_facet S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
S. Alireza, Kasaei
Mohsen, Taheri
author_sort S. Hamidreza, Kasaei
title Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
title_short Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
title_full Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
title_fullStr Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
title_full_unstemmed Modeling and Implementation of Omni-directional soccer robot with wide vision scope applied in Robocup-MSL
title_sort modeling and implementation of omni-directional soccer robot with wide vision scope applied in robocup-msl
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7308
_version_ 1643788774350520320
score 13.214268

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