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研究生： 許益嘉
Hsu, Yi-Chia
論文名稱： 中型足球機器人之即時避障與控制策略之研究
A Real-time Obstacle Avoidance and Control Strategy for a Middle-Size Soccer Robot
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： 81
中文關鍵詞： 全方位視覺系統 、控制策略 、避障 、影像處理
外文關鍵詞： obstacle avoidance, image processing, control strategy, omnidirectional vision system
相關次數： 點閱：82  下載：2 
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    • 　　本論文主要係發展以RoboCup規則為標準之中型機器人足球競賽系統，其中包括了中型足球機器人的硬體架構之設計、驅動電路之製作、視覺伺服系統的研發、以及即時影像處理技術的設計與實現。整個中型機器人足球系統為一全方位視覺回授控制系統。置於機器人正上方的全方位視覺系統負責擷取場地上的畫面，並將影像資訊傳送至機器人本身的主控電腦端，再經由影像分析辨識之後，得到足球場上環境的動態資訊。主控電腦判斷場上機器人與球的相對狀況等資訊後，來決定機器人的行為模式與策略，並將控制策略運算的結果，經由模糊控制器的輸出來控制機器人的馬達。本論文首先提出所設計之機器人足球競賽系統，並介紹其硬體架構，其次我們將詳述影像處理之流程。接著，我們提出具有即時障礙物規避功能的控制策略來賦予足球機器人所需產生的行為模式。最後以實驗來說明所設計之機器人足球系統的效益與適用性。

    　This thesis is mainly to develop a robot soccer system to conform RoboCup middle size league. The robot soccer system includes the design and implementation of the hardware architecture, driver circuits, visual servo system, and the real-time image processing technique. The middle-size robot soccer system can be considered as an omnidirectional visual feedback system. The image of the field is captured via the camera mounted above the robot. The information of image data is transmitted to the on-board PC and then analyzed to obtain the dynamic environmental information of the field. From the relative situations among the ball and the robots, the on-board PC will figure out the appropriate strategy and behavior mode, and then send the command to the fuzzy logic based velocity controller to drive the motors. In this thesis, the structure of the middle-size robot soccer system is addressed firstly. Then details of the image flow system including obstacles avoidance and color range searching method are presented. After that, we propose the real-time obstacle avoidance and control strategies to assign the behavior of the soccer robot. Finally, the experiments of a soccer robot with obstacle avoidance are performed to verify the benefit and the feasibility of the developed schemes.

    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 2 Chapter 2. Overview of the Middle-size Robot Soccer System 4 2.1 Introduction 4 2.2 Overview of the Middle Size Robot League 5 2.3 Hardware Architecture of the Middle Size Robot 9 2.3.1 The Omnidirectional Vision Module 9 2.3.2 The Wireless Communication Module 12 2.3.3 The Driver and DC Motor Module 14 2.3.4 The Power System 17 2.3.5 The On-board PC 18 2.3.6 Hardware Configuration of the Soccer Robot 18 2.4 Summary 20 Chapter 3. Vision System 21 3.1 Introduction 21 3.2 YUV Color Formation 22 3.3 The Boundary Following Algorithm for Object Recognition 25 3.4 Classify the Information of the Robot 31 3.4.1 Fundamental Data 31 3.4.2 Calculation of the Information of the Robot 32 3.4.3 Obstacle Detection 36 3.5 Results 40 Chapter 4. Obstacle Avoidance and Control Strategy 42 4.1 Introduction 42 4.2 Target Generation Method 43 4.3 Fuzzy Logic Based Velocity Controller 45 4.3.1 Fuzzification Interface 46 4.3.2 Decision Making Logic 48 4.3.3 Knowledge Base 48 4.3.4 Defuzzification Interface 50 4.3.5 The Fundamental Speed 51 4.4 Real-time Obstacle Avoidance 51 4.4.1 Reconfirmation of Obstacle Detection 52 4.4.2 Obstacle-avoidance Strategy 55 4.5 Offense and Defense Strategies 63 4.6 Summary 65 Chapter 5.Experimental Results 66 5.1 Introduction 66 5.2 The Operation Interface 67 5.3 Experiment Results of Obstacle Avoidance 70 5.4 Experiments for Offense and Defense Strategies 74 Chapter 6. Conclusion and Future Works 76 6.1 Conclusion 76 6.2 Future Works 77 References 78 Biography 81

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