Visual Subsystems In The Robot Soccer Game Systems Research And Design

Vision system is the most important apparatus for human being and people acquire most of information from the outside world by their vision systems. In the process of human being's exploration to the nature world, man always hope to find some machine-computing ways to achieve human being's vision function, and to acquire information automatically from outside world. Robot-soccer vision system is just based on chromatic image processing, and with a great demand for its real-time performance, then it can be an ideal subject for those above rearch fields. Robot soccer match system is a typical multi-agent cooperation system; FIRA (Federation of International Robot soccer Association) MiroSot (Micro-Robot Soccer Tournament) group is one of the most pop robot soccer matches, whose system includes vision subsystem, decision-making subsystem, wireless communication subsystem and soccer robot subsystem. MiroSot is involved in many reseach domains, such as computer vision, MAS, robotics motion control, wireless communication, micro electromechanical system and electrical driver. The major content of this paper is to reseach MiroSot vision subsystem. Vision subsystem works as robot's eye—recognise and trace chromatic image object. The information content of chromatic image is is more abundant than gray-level image. Therefore, there will be more challenge to realization fast recognising and tracing in chromatic image than in gray-level image. The research task is financed by national 863 planning project "Soccer Robot Development" (512-9935-08), "Micro Group Robot Soccer Pivotal Technology Research" (2001AA422270) and Guangdong province s&t reseaching project "Multi-agent System Experiment Platform, Simulaition System and Application" (2KM00502G) The research contents include:(1) Research in the structure, function and hardware design of all MiroSot subsystems.(2) It discusses the principles and methods of color perception and image...