Research And Design Of The Vision System And Decision-making System For Soccer Robot In RoboCup Middle-size League

The research on soccer robot has obtained rapid development in recent years, which makes this multi-disciplinary overlapping topic receive more and more attention. As a new research field, many of its contents are worth study. The object of this thesis is the RoboCup middle-size soccer robot which contains vision system, decision-making system, communication system, drive and control system. It emphatically studies and designs the vision and decision-making system of the robot.Vision system uses omni-directional vision sensor and digital camera as the image capture device. According to the specialties of the RoboCup middle-size soccer robot, special surface reflector is designed. In order to meet the real-time requirements of the vision system, CLUT pane dynamic search algorithm is adopted to accelerate the targets search, and variable step-size region growing algorism is employed in segmentation of color images. Different targets are rapidly identified according to their different colors, locations, shapes and other information. As the images getting from the omni-directional vision are aberrant, how to calibrate the actual location of the targets need to be study, and the distance calibration table is given.The most important factor deciding the game result is the decision-making system, which has to satisfy the rapidity, the validity and the timeliness. Thus it makes a high claim to the decision-making model and algorithm. Based on clearing about the mission of decision-making system, this thesis puts forward a decision-making system model which is founded on the multi-agent plan theory. It develops roles assignment algorithm which controls and coordinates agents and roles decision model which plans and executes agents. Roles assignment algorithm adopts dimidiate graph algorithm and roles decision model is the finite state automaton model which elaborates the process of state transition between the forward and the goalkeeper. At last it introduces the basic movements of the robot.Finally, this thesis introduces the designing results of the RoboCup middle-size soccer robot, and points out the deficiencies existed in the system. The future development and foreground of the RoboCup middle-size soccer-robot have also been prospected in the end.