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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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id	my.unimap-7308
record_format	dspace
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	13.18916

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

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