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研究生：	陳智揚 Chen, Chi-Yang
論文名稱：	以角色派任機制設計實現五對五機器足球員競賽 Design and Implementation of a Role Assignment for the Five-on-Five Robot Soccer Competition
指導教授：	李祖聖 Li, Tzuu-Hseng S.
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2003
畢業學年度：	91
語文別：	英文
論文頁數：	84
中文關鍵詞：	角色扮演、機器足球員競賽
外文關鍵詞：	RoboCup, robot, vision system, role assigment
相關次數：	點閱：97 下載：2
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本論文係探討以角色派任機制設計實現五對五機器足球員競賽。整個機器足球員競賽可視為一視覺回授控制系統。藉由架設在足球場地上方的攝影機負責擷取影像，並經由影像分析後，可一目了然場上的動態。主電腦考慮場上狀況後，決定戰術並經由無線模組下達相對應命令。機器人接收命令並即時執行，進而完成進攻和防守等策略。本論文首先提出所設計之機器足球員競賽系統，並詳述影像系統之流程，其中包括影像前置處理、顏色搜尋範圍的初始化、色塊分析、以及特徵辨識等部分。接著，提出角色派任計算每個足球機器員之值得目標值，賦予每隻機器足球員所需扮演的角色以進行攻守策略。最後實際進行五對五機器足球員競賽，電腦模擬與實驗結果均說明了所製作設計之機器足球員系統的效益與可行性。

This thesis is devoted to designing and implementing a role assignment mechanism for the five-on-five robot soccer system, which can be considered as a visual servoing system. According to the analysis of the image captured by the CCD camera mounted above the field, all the information on the field will be clear at a glance. The host computer takes the information into consideration and decides the appropriate strategy, and then sends the suitable commands to the soccer robots via wireless modem. Based on the instruction from the host computer, all the soccer robots will perform appropriate actions immediately. In this thesis, the structure of the proposed robot soccer system is firstly introduced. The procedures of the vision system are also addressed in detail, including the image preprocessing, the RGB range initialization, blob analysis, and feature identification. Then, we propose a role assignment mechanism, which is determined by calculating the worthy target value of each soccer robot, to allot the role that the robot should perform. Finally, a real five-on-five robot soccer game is performed. The efficiency and feasibility of the proposed system are demonstrated by computer simulations and the practical experiments.

Chapter 1. Introduction                                1
1 Motivation			                  1
2 Thesis Organization		                  2
Chapter 2. Overview of the Robot Soccer System	4
1 Introduction              	                  4
2 Overview of the Robot Soccer Game		5
3 Robot Soccer System				5
4 Hardware Specification of the Robot Soccer System	7
4.1 CCD Camera	           			7
4.2 Image Grabbing Card				8
4.3 Wireless Communication System			9
4.4 Host Computer				12
5 Hardware Architecture of the Soccer Robot		12
5.1 Architecture of Soccer Robot   		17
5.2 Battery Module and Voltage Regulator Module	17
5.3 Control Unit Module	          		18
5.4 Steering Motor Driver Module and Kicking Device 
Motor Driver Module				18
6 Summary					20
Chapter 3. Vision System			         21
1 Introduction					21
2 Overview of the Vision System			22
2.1 Important Colors and Markers			22
2.2 Overview the Image Processing Procedures	23
3 Image Capture and Preparation Sub-system		25
3.1 Application Initialization Module		25
3.2 Color Module					27
4 RGB Range Initialization Sub-system		28
4.1 Blob Analysis Module				29
4.2 Bubble Sort Module				30
5 Image Processing Sub-system	          	32
5.1 Image Segmentation Module			33
5.2 Virtual Windowing Blob Analysis Module		34
6 Robot Orientation and Identification Sub-system	36
6.1 Robot Orientation Module			36
6.2 Robot Identification Module			37
7 Summary					38
Chapter 4. Strategy Decision System			40
1 Introduction					40
2 Reflecting Behaviors of the Soccer Robot		41
2.1 Reflecting Behaviors for General Soccer Robot	42
3 Navigation and Obstacle Avoidance Using Vector Field Method		                                    44
4 Role Assignment				47
4.1 The Worthy Positions (Targets) Computation	47
4.2 The Role Assignment of All the General Robots	50
4.3 Target Allotment of Goalkeeper Robot		51
5 Strategies Description				52
5.1 The Behavior Description of the Attacker	53
5.2 The Behavior Description for the Defender	54
5.3 The Behavior Description for Goalkeeper		55
6 Kinematic Model and Proportional Controller of the Soccer Robot	                                    56
6.1 Proportional Control				58
7 Summary                                            60
Chapter 5. Simulation and Implementation		61
1 Introduction		           		61
2 Computer Simulation				62
2.1 Simulation of Shooting Posture			62
2.2 Simulation of Navigation and Obstacle Avoidance	63
2.3 Dynamic Point Tracking			63
3 User Interface					64
4 Practical Pictures				67
5 A Five-on-Five Robot Soccer Game			75
Chapter 6. Conclusion and Future Works		79
1 Conclusion					79
2 The Future Works				80
2.1 The Hardware Part				80
2.2 The Software Part				80
References		                            81
                                    

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校內：2004-07-08公開
校外：2004-07-08公開

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