Construction Of Humanoid Robot Soccer System Based On Global Vision

Robot soccer, as an advanced research platform of artificial intelligence and robotics, is attracted great attention of scientists in China and aboard. The research target of robot soccer is the team of fully autonomous humanoid robots that can win against the human world soccer champion team by the year 2050.Humanoid Robot is an important branch of robot and the highest state in robot research.The paper designs a new humanoid robot soccer system based on global vision. It consists of four subsystems: the robot, the global vision system, the decision system and wireless communication system.The decision system is the controller in the system, humanoid robot is the actuator, vision system is the detection unit and wireless communication system is the information bridge to link the decision system and the humanoid robot. This paper designs the humanoid robot soccer system from the above constituents mainly.Based on the global vision system, the target robot and ball are located by recognizing the colors and the precise location is obtained. The shaking in large scale will be eliminated by separating the field .The inclination angle will be obtained by testing edge and the exact coordinate will be obtained by eliminating the shaking in small scale. The influence of shaking can be eliminated by this method which has been experimentally proved. .Based on Environment perceptive/ Formation switch/ Roles allocation/ Action selection, a four layers decision-making and inference model are proposed. The determining method, which is based on Fuzzy decision algorithmic, is work out. Though this way, the term order and role of robot can dynamic switch. So that, the mapping from characteristic state space to action space can be finished. Proved by experiments, the determining method can consider many factors with high real time.Bluetooth is applied in communication system .The launcher receive control command through RS232 and modulate by transmission protocol (XM100).After receiving the data ,the robot will know the command by demodulation.ROBONAVA-I humanoid robot from Korean minirobot company are chosen as teammates. The configuration of robot is analyzed and the program language robo-Basic is introduced. Under the construction of mathematic model, gait planning of ROBONAVA-I humanoid robot is researched and the basic gait of robot on the frontal plane is analyzed by ZMP.This system has already been applied in FIRA 13th Robot soccer competition and getting the second prize which has proved the feasibility and reliability of the system.