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    Robot Soccer Involves Research Areas

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    joshi_snehalata7583
    1) The document discusses robot soccer and describes the hardware and software structures of different soccer playing robots. 2) The robots have various mechanisms like omnidirectional vision systems, omnidirectional movement capabilities, and solenoid or pneumatic kicking mechanisms. 3) The software structures include world modeling, robot localization, and behavior-based control architectures with roles like attacker, defender, and goalkeeper. Strategies are decided based on factors like distance to the ball and goals.

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    Robot Soccer Involves Research Areas

    Uploaded by

    joshi_snehalata7583
    30 views25 pages
    1) The document discusses robot soccer and describes the hardware and software structures of different soccer playing robots. 2) The robots have various mechanisms like omnidirectional vision systems, omnidirectional movement capabilities, and solenoid or pneumatic kicking mechanisms. 3) The software structures include world modeling, robot localization, and behavior-based control architectures with roles like attacker, defender, and goalkeeper. Strategies are decided based on factors like distance to the ball and goals.

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    Presentation 2

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    1) The document discusses robot soccer and describes the hardware and software structures of different soccer playing robots. 2) The robots have various mechanisms like omnidirectional vision systems, omnidirectional movement capabilities, and solenoid or pneumatic kicking mechanisms. 3) The software structures include world modeling, robot localization, and behavior-based control architectures with roles like attacker, defender, and goalkeeper. Strategies are decided based on factors like distance to the ball and goals.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    30 views25 pages

    Robot Soccer Involves Research Areas

    Uploaded by

    joshi_snehalata7583
    1) The document discusses robot soccer and describes the hardware and software structures of different soccer playing robots. 2) The robots have various mechanisms like omnidirectional vision systems, omnidirectional movement capabilities, and solenoid or pneumatic kicking mechanisms. 3) The software structures include world modeling, robot localization, and behavior-based control architectures with roles like attacker, defender, and goalkeeper. Strategies are decided based on factors like distance to the ball and goals.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 25

    Introduction

    Robot soccer involves research areas


    real-time recognition sensor fusion behavior learning for complex tasks strategy acquisition

    Five robots performing actions


    Attack Support Defend

    Communication through wireless network

    Robot Structure
    Hardware Structure Omnidirectional vision Omnidirectional movement Kicking mechanism Software Structure World model construction Robot self localization Behavior structure

    Adro Soccer Robot


    Omnidirectional vision COPIS

    hyperbolic mirror Basler Digital Camera 2 view around the robot

    Omnidirectional movement
    Omnidirectional wheels

    DC motor Wheel encoder

    Solenoid kicking mechanism


    Self inductance

    Speed-10m/s when 800 turns, current of 60 A are applied.

    Parameters for solenoid design


    Inductive Resistance (SelfInductance)

    Resistance

    Force
    Lorentz formula

    Dimensions shaft - near the solenoid coil magnetic part of the shaft = to the length of the solenoid coil Shielding control the radiated magnetic field steel tube out of the solenoid

    Solenoid controlling circuit

    first charging of condenser - 450V, requires 13 sec after a stroke 150v recharging of capacitor to 450 volt -9 sec Disadvantage operate on high voltages

    Software Structure
    world model construction

    Confidence factor

    Robot self localization


    Monte carlo localization
    Belief function at pose l = (x, y, ) Motion model

    Sensor model

    Particle filtering method


    belief function represented by a set of samples

    Behavior Structure
    Roles
    Goal-keeper Attacker Defender Supporter

    Strategy decider block (AI core)


    Decides strategy Send list of roles to role engine

    Role Engine
    Determines applicability of role Role assignment fuzzy variable

    Fuzzy variable
    Distance to ball, Distance to our goal, Distance to opponent goal, Orientation, Path obstacle

    Selection of appropriate robot

    Tribot Soccer Robot Omnidirectional vision


    Catadioptric camera Perspective camera

    Omnidirectional Movement
    Three wheels Combined translational and rotational movement

    Pneumatic Kicking Device

    Two pneumatic cylinders Speed 20km/h , max. height 3m

    Software structure and world model


    control and communication component vision component behavior component geometric and dynamic world model comp. Communication WLAN Low reliability Information exchange typed, untyped

    Robot Self localization

    p - position of the robot orientation (.) - robust error measure d(.) - distance of a pt x from the closest field marking

    Behavior Structure
    Behavior modeling finite state machine BDI interpreter Generic decision scheme
    option = all available behaviors intention = option selected for execution loop determine the present situation s filter applicable options A = {option o s domain(o)} select one option i from A and make it the intention (arbitration) execute i end loop

    Generic Arbitration
    Highest priority first arbitration Finish plan arbitration Random arbitration Sequence arbitration
    Example

    Reinforcement learning Markov decision processes


    M =(S,A,p,c)

    A = set of actions S = set of states c(s,a,s) = immediate costs p(s,a,s) = probability

    Summary
    stereo camera system
    30 frames/sec on 1.6 GHz CPU, running on Linux Avg. time to detect ball 4.9 ms Total processing time 12 ms

    Omni-kick system - reduce the rotation rate about 60% Computation time required for self localization
    Particle filtering (500 particles) 48.3 ms Particle filtering (200 particles) 17.9 ms Error minimization approach 4.2 ms

    References
    [1] Martin Lauer, Roland Hafner, Sascha Lange, Martin Riedmiller, Cognitive concepts in autonomous soccer playing robots, Cognitive Systems Research, 2010, Vol.11, pp. 287309. [2] Hamidreza Kasaei S., Mohammadreza Kasaei S., Alireza Kasaei S., Design a Modular Architecture for Autonomous Soccer Robot Based on Omnidirectional Mobility with Distributed Behavior Control, International Journal of Engineering and Technology, 2010, Vol.2, No.6, pp. 508-513. [3] Hamidreza Mohades Kasaei S., Mohammadreza Mohades Kasaei S., Alireza Mohades Kasaei S., Development a Real Time Cooperative Behavior Approach for Autonomous Soccer Robots Applied in Robocup- MSL, International Journal of Robotics and Automation (IJRA),2009, Vol. 1, Issue 2, pp. 26-41 [4] Yasushi Yagi, Shinjiro Kawato, Saburo Tsuji, Real Time Omnidirectional Image Sensor (COPIS) for vision guided navigation, IEEE Transactions on Robotics and Automation, 1994, Vol. 10, No.1, pp. 11-22

    [5] Fragois G. Pin, Stephen M. Killough, A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots, IEEE Transactions on Robotics and Automation, 1994, Vol. 10, No.4, pp. 480-489. [6] Hamidreza Kasaei S., Mohammadreza Kasaei S., Alireza Kasaei S., A Practical Approach to Implementation an Autonomous Soccer Robot, Majlesi Journal of Mechanical Engineering, 2010, Vol. 3, No. 4, pp. 45-55.

    Thank You

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