The soccer robot is involved in many research fields, including intelligent control, data fusion, computer technology, wireless communication, image engineering, micro electromechanical system and electrical driver and so on. It provides a good test platform for the control theory and promotes the rapid development of robot technology and embedded research on Multi-Agent System.Based on the platform of"DF-â…¡"autonomous soccer robot, three key technologies are studied in the background of Robocup, including image processing, object prediction and decision of the autonomous soccer robot system.(1) The composition of"DF-â…¡"autonomous soccer robot is introduced. The working principle and architecture of subsystems are presented, including vision subsystem ,decision-making subsystem, wireless communication subsystem, and executive subsystem.(2) The technologies of image smoothing and image segmentation of vision system are studied. The Gauss Filtering is adopted to accomplish image smoothing and the algorithm based on YUY color model is adopted to accomplish image segmentation. The simulation experiments are processed so as to provide reliable information for making projects of the robot next object prediction and decision.(3) On the basis of analysis and comparison of some object prediction algorithms, an algorithm based on self-adapting strong tracking filtering is brought forward. The simulation results from the algorithm are effective to object prediction by comparing Kalman filtering algorithm.(4) According to the research of image processing and object predication, the coordination decision project based on wireless network is proposed. The double-layer decision model is used to neatly accommodate the change of the game environment through the static role assignment and dynamic role conversion of robots. The coordination decision method is validated to be effective through changing group decision and individual decision on the robot game by AI-RCJ4.0 simulation software. |