机器人资料-论文-043-role constuction and recognition in robot soccer games.pdf

proceedings of the 2004 ieee international conference on networking. sensing then, the path planning determines the command for each robot and the command encoder encodes this command so that the communication system can transmit it to each robot. in the soccer robot, each robot bas a receiver to get control instruction from the host computer through wireless communication, and a micro control chip to control the actions of dribble, offence, defend or shoot based on the received instruction. each robot basically has the following motion functions: left and right sides turn revolving, and front and rear motion so that it could move on all sides based on the command. a good image process plays an important role in the robot soccer system. if the image process cannot provide the correct information, the team with a good strategy decision and a good robot s architecture also cant exert its ability to win the game. the main purposeof image process is to find out the positiom of one ball and ten robots of both sides from the captured image. furthermore, the robots number, location, and forward direction of our five robots can be determined based on a role construction and recognition method. the strategy decision mechanism will use the obtained information to decide the suitable actions for each robot. if the extracted information from the image process is not correct, the strategy decision 0-7803-8193-9/04/$17.00 02004 ieee 1115 mechanism is unable to decide suitable instruction to obtain satisfying result in the robotic control. therefore the image process is quite important in the whole robot soccu system h the image process of robot soccer system, the following three processes are important: (a) color model construction, )position correction, and (c) multiple roles recognition. they are described as follows: (a) in the process of color model construction 234, owing to the objects (ball and robots of both sides) are identified based on the assigned colors, the color model must be constructed to recognize these objects. for example, according to these assigned colors in the games rule, these assigned color: green stands for field, orange stands for ball, blue and yellow stand for each team of both sides, respectively. thus the process of color model construction to recognize objects and determine their coordinates is important in the image process of robot soccer system. )in the process of position correction 5, owing to evey objects on the game field do not have the same high position, and the coordinate positions of objects are determined from the captured image based on the color model, the position correction must be made to get the correct position. furthermore, according to the games rule, the ccd camera is set on the position which is 3m height upper on the field, thus a wide-angle len must be added in the ccd so that the captured image can contain the game field. it will let the captured image is not the same as the real situation. thus, the process of position correction to obtain the correct coordinate positions of objects is important in the image process of robot soccer system (c) in the process of multiple roles recognition, because the small-size robot soccer game allows every team to have at most five robots on the game field, an efficient method for the role construction and recognition of our five robots must be made to effectively recognize cach robots number and forward direction of our five robots on the game field. in this way, the strategy decision mechanism in the host computer system can decide suitable action commands to our five robots. thus, the process of mltiple roles recognition is in the image process ofthe robot soccer systemin this paper, the main discussed topic is thendtiple roles recognition problem in the robot soccer game, each team has five robots in the game field. the wireless modem of host computer will transfer a data packet to our five robots, where this packet contained the action instructions for robots from the decision mechanism in the host computer. cnsmission is 30 frames per second. it means every grabbing frame needs xo second, so a reaktime process will be acbieved when the process time of this recognition is shorter than ya second. in the practical test, the process time that includes grabbing, display, and recognition is 30 frames per second. it means that the process time of the proposed grabbing and recognition is shorter than v;, second, thus &e proposed recognition method meets the request ofreal- time. therefore, this proposed method can work well in the real situation. 5 acknowledgement this work was supported in part by the national science council of the republic of china under nsc 90-2213-e-032- w1. references l y. h. chen, “development of visual servoing system for robot soccer“, master thesis, department of electrical engineering, national yunlin university, 2001. (in chinese.) 2 k. j. lu, “development and implementation of rea& time visual servoing system for multi agent soccer robot systems“, master thesis, department of mechanical engineering, national taiwan university, 2001 3 m. f. cbou, “design of robot soccer using the dsp- conh.oller“, master thesis, department of eledical engineering, tamkang university, 2001. (in chinese.) 4 url / 5 url / a rafael c gonzalez, richard e. woods, “digital image processing“, addison wesley, 1992. 7l thomas charles karpati, prof. rafaello wandrea pr. jim-woo lee, “r&time visual perception for autonomous robotic soccer agents“j999. figure 1. description of the flowchart of the process in the robot soccer game. (a) ) (c) (d) (e) figure 2. description of five roundsbape labels used to recognize five robots: (a) robot no., (b) robot no.2, (c) robot no.3, (d) robotno.4, and (e) robot no.5. forward direction t firmre 3. descriotions of the dimension (unit: cm) of the label, the robots number, and the indicated forward direction of the considered label. a figure4. the photo picture of the label in the robot, where the forward direction is fixed and determined in this label. y figure 5. description of the center point c and start point s of the considered label, and the search direction in the proposed angle recognition algorithm. 1119 figure 6. description oftbe data of twedimension array i s round-shape label between internal and outer diameter two dotted lines. figure 7. description of the trans