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研究生：	楊怡容 Yang, Yi-Rung
論文名稱：	以動態角色派任機制設計實現全自主式中型足球機器人系統 Design and Implementation of Dynamic Role Assignment for the Fully Autonomous Middle Size Robot Soccer System
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：	2005
畢業學年度：	93
語文別：	英文
論文頁數：	88
中文關鍵詞：	動態角色派任機制、無線通訊、全方位視覺系統、中型足球機器人
外文關鍵詞：	Middle size robot soccer system, omnidirectional vision system, wireless communication, dynamic role
相關次數：	點閱：98 下載：3
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　　本論文主要係探討中型足球機器人之動態角色派任機制及行為策略之研究。首先，依據RoboCup聯盟的規範，可以清楚地瞭解到中型足球機器人為一個全自主式(Fully Autonomous)機器人，架設於機器人上的全方位影像系統為主要的感測器。全方位影像系統的建立可拓展足球機器人的視野空間，經由獨立的影像處理系統可分析出足球機器人週遭環境的資訊，以進行影像的識別與重要特徵物體之定位。藉由無線通訊卡，作為兩個足球機器人的溝通介面，以傳遞個別機器人經由影像處理系統所偵測的場地資訊，並判斷出每隻機器人的角色以及球的控制歸屬權。此機器人涵蓋了獨立的影像處理系統、機構、策略決策系統以及無線通訊，使其具有自主能力，依據所得到影像資訊以及動態角色派任機制以進行攻守策略。最後，以實驗來驗證所設計之足球機器人系統的效益及適用性。

　This thesis is mainly to confer the study of the mechanism of dynamic role assignment and behavior strategies on the middle size robot soccer system. Firstly, according to the rules of RoboCup, we can understand clearly that the middle size soccer robot is a fully autonomous robot. The omnidirectional vision system with the broad view has been mounted on the robot and it is the key sensor of this middle size robot soccer system. Through the image processing system, we can analyze the information about the surroundings of the soccer robot to identify the objects and positions of the important features in the field. Secondly, using the wireless communication card, the robot could send the message of image from the independent image processing system to the other one. Then, the mechanism of role assignment will decide the role of each robot, and the control authority of the ball. Each robot possesses the fully autonomous abilities of independent image processing system, wireless communication, and strategy decision system. It would select the attacking or defending strategy according to the information of image and the result of the mechanism of dynamic role assignment. Finally, the efficiency and feasibility of the proposed system are demonstrated by practical experiments.

Abstract　　　　　　　　　　　　　　　　　　I
Acknowledgment　　　　　　　　　　　　　     III 
Contents　　　　　　　　　　　　　　　　　  IV
List of Figures　　　　　　　　　　　　　　　VII
List of Tables　　　　　　　　　　　　　　　 Ⅹ



Chapter 1. Introduction　　　　　　　　　　　　1
		1.1 Motivation　　　　　　　 1
		1.2 Thesis Organization　　　3
Chapter 2. Setup of Middle Size Robot Soccer     System			　4
		2.1 Introduction					    4
		2.2 Overview of the Middle Size Robot Soccer Game	    5
		2.3 Middle Size Robot Soccer System			　　5　		
                  2.4 Hardware Specification of the Robot Soccer System	　　8
　　　　　　　　　　　　　　2.4.1 The omnidirectional mirror and the CCD	　　8
　　　　　　　　　　　　　　2.4.2 Image Grabbing Card			　　10
　　　　　　　　　　　　　　2.4.3 Wireless Communication System		　　12
　　　　　　　　　　　　　　2.4.4 The Driver and DC Motor		　　14
　　　　　　　　　　　　　　2.4.5 Battery Module and Voltage Regular Module  17
　　　　　　　　　　　　　　2.4.6 On-board Compute			　　17
		2.5 Hardware Configuration of the Soccer Robot	    18
		2.6 Summary					    20
Chapter 3. Omnidirectional Vision System				　　22
		3.1 Introduction					　　22
		3.2 Overview of the Vision System			　　24
　　　　　　　　　　　　　　3.2.1 The Important Colors and Markers	　　26
            　　　　　　　　                          3.2.2 Overview Image Processing Procedures	　　27
		3.3 The Procedures of Image Processing System		　　29
　　　　　　　　　　　　　　3.3.1 The Image Capturing Sub-system	　　29
　　　　　　　　　　　　　　3.3.2 The YUV Range Initialization Sub-system	　　29
　　　　　　　　　　　　　　3.3.3 The BSA Sub system			　　31
　　　　　　　　　　　　　　3.3.4 The Objects Identification and Noise-Filter Sub-system		　　35
                                    3.3.5 The Correction about the Distance of the Objects Sub-system	　　　　　　　　　　　39
            　　　　　　　　3.3.6 The Information of Real World about the Robot Sub-system	　　　　　　　42
		3.4 Results	                	　　　　　　　　　　　43
Chapter 4. Dynamic Role Assignment and Strategy	　　　　　　　　　　　45
		4.1 Introduction			　　　　　　　　　　　45
		4.2 Strategy			　　　　　　　　　　　46
　　　　　　　　　　　　　　4.2.1 Setup of Wireless Communication　　　　　　48
　　　　　　　　　　　　　　4.2.2 Communication between Two Robots　　　　　 51
　　　　　　　　　　　　　　4.2.3 The Dynamic Role Assignment Algorithm　　　53
　　　　　　　　　　　　　　4.2.4 Four Behavioral modes of Robot　　　　　　 55
                            4.2.5 The Decision of Target and the Mechanism 
                                  of State Selection of Each Mode	　　60
            　　　　　　　　4.2.6 The threshold values of the state selection	        	    　　　　　　　　　　　　　　　　　　　　　　　　　　　 68
　　　　　　　　　　　　　　4.2.7 Obstacles avoidance Using Angle Resultant Method	　　　　　　　　　　	    69
		4.3 Fuzzy Logic Controller of the Middle Size Soccer Robot 71
		4.4 Summary	                        		    74
Chapter 5. Experimental Results					　　75
　　　　　　　　　5.1 Introduction					　　75
　　　　　　　　　5.2 Operative Interface				　　76　　　　　　　　  5.3 Pictures of the Experimental Results		    78
Chapter 6. Conclusion and Future Works				    82
		6.1 Conclusion					    82
		6.2 Future Works				             83
References							    84
Biography                                                                    88

                                    

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校內：2007-07-04公開
校外：2007-07-04公開

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