Research On Vision System And Goalie Strategy For Micro Soccer Robot

Robot soccer is an international high-tech competition that is developing veryrapidly. It can speed up the development of many fields such as artificial intelligence,image processing, wireless communication and real time control etc. It is of greatstudy value.Taking the MiroSot robot as the study object, the paper made a deep study on thevision system and the defense strategy of goalie through practicing theory.The study mainly lies in the following aspects:1. It made a comprehensively analysis on the present study circumstance and itsdevelopment direction and then decided the study direction and content of the paper.2. It analyzed the hardware of the vision system, advanced the design methodfor the soccer robot vision system and explained the adjustment method of thehardware to adapt to the competition environment.3. It made a deep analysis on the object search method. Based on the formerdynamic window tracking method, it improved the method in many aspects. It hascancelled the velocity limit to the robot, the label will not be matched wrongly and itcan find the robot immediately after the objects are lost. So the search method hasbecome more credible and rapidly.4. It improved the calculation method for the robot pose, so it overcomed itsdrawback that the member label is easy to be lost, and made the calculation for robotpose can be independent on the member label temporally. The robust character of thesearch method is promoted greatly.5. It made a study on how to decide the range of the label color and advanced anew method to decide the range of the label color. So the range can be decided rightly.6. It analyzed the soccer robots' attack and defense character and put forward adefense strategy for the goalie robot. The goalie works more effectively and rightly.