Design Of Humanoid Robot Soccer System Based On Global Vision

As the standard platform for researches of multi-agent system and distributed artificial intelligence, the robot soccer system (RSS) integrates a number of key technologies, its research and development is of great significance. After more than 10 years of development, the robot soccer match is gradually becoming mature, meanwhile the humanoid robot technology has made considerable progress, and therefore, the humanoid robot soccer tournament has been growing concern. This paper describes the design of the humanoid robot soccer system based on global vision, and the system can be called Semi-HuroSot (The Humanoid Robot Soccer Tournament).The humanoid robot soccer system based on global vision consists mainly of three parts: the vision system, the wireless communication system and the soccer robots system. This paper designs the Semi-HuroSot system from the above constituents mainly.Firstly, the vision system is achieved by global vision, in which robots and the ball are identified and positioned through the color-based target identification algorithm. The paper proposes a new color tag, and its recognition accuracy is superior to the previous tag.Secondly, in the paper, the wireless communication system has been achieved by using Bluetooth technology. Such wireless communication technology is better than the radio frequency wireless communication technology which had previously been applied to MiroSot.Then, we selected the ROBONOVA - I robot as our players, and we proposed the shooting and goalkeeper algorithm. Shooting algorithm is the combination of the shooting point and the shooting area, and the goalkeeper algorithm is that the goalkeeper adopts corresponding strategy according to the ball in different region of the platform. These algorithms have been applied to the design of our system, and have been verified by experiments and the actual event.Finally, in order to validate the system's practicality, we implemented the 3VS3 match, in which one team was operated by manual remote and another was controlled automatically by global vision. Meanwhile, the system won the champion in the country tournament.RSS integrated a number of important key technologies that had the very wide field of application, from the civilian goods to the industry area then to military applications. It is a creative research in the domestic and even international that humanoid robots as a team and through the semi-autonomous control participate the soccer competition. The humanoid robot soccer as the most important step of the way to achieve the ultimate goal of the robot soccer will be the focus of future development.