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研究生：	洪宗銘 Hung, Tsung-Ming
論文名稱：	三對三足球機器員競賽之設計與實現 Design and Implementation of a Three-on-Three Soccer Robot 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：	2002
畢業學年度：	90
語文別：	英文
論文頁數：	81
中文關鍵詞：	足球機器員
外文關鍵詞：	RoboCup, robot soccer
相關次數：	點閱：56 下載：4
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本論文係探討三對三足球機器員系統之設計與實現。整個足球機器員競賽可視為一視覺回授控制系統。架設在足球場地上方的攝影機負責擷取影像，藉由影像分析後可獲得敵我動態。主電腦考慮場上狀況後，決定所行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。本論文首先介紹所提出之足球機器員競賽系統，以及詳述影像系統之流程，其中包括前、後置處理與色塊分析，並提出攻防策略與以場為基礎之控制器，最後實際進行三對三足球機器員競賽。電腦模擬與實驗結果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 three-on-three 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, the status of the play will be all obtained. The host computer takes the information into consideration, decides the appropriate strategy, and then sends the corresponding command to the soccer robots via wireless modem. Based on the instruction from the host computer, the robot will perform a suitable action 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 of the image preprocessing, blob analysis, and the future processing. Then, the attacking and defending strategies and the motion control of the robot are described. Finally, a real three-on-three 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 Robot Soccer Game	5
3 Robot Soccer System	6
4 Hardware Specification of Vision and Strategy Decision System	7
4.1 CCD Camera	7
4.2 Image Grabbing Card	8
4.3 Host Computer	9
5 Wireless Communication System	9
6 Hardware Architecture of the Soccer Robot	13
6.1 Architecture of Soccer Robot	17
6.2 Battery Module	17
6.3 Voltage Regulator Module	18
6.4 Control Unit Module	18
6.5 Steering Motor Driver Module	19
6.6 Kicking Device Motor Driver Module	20
6.7 DC Motor Module	21
7 Summary	21
Chapter 3. Vision System	22
1 Introduction	22
2 Overview of the Vision System	23
3 Image Capture and Preparation Sub-system	25
3.1 Application Initialization Module	25
3.2 Color Model Choosing Module	26
3.3 Field Separating Module	28
4 Image Processing Sub-system	30
4.1 Image Segmentation Module	31
4.2 Global Windowing Blob Analysis Module	33
4.3 Local Windowing Blob Analysis Module	35
5 Robot Orientation and Identification Sub-system	35
5.1 Robot Orientation Module	36
5.2 Robot Identification Module	37
6 Summary	38
Chapter 4. Strategy Decision System	39
1 Introduction	39
2 Basic Behaviors of the Soccer Robot	40
2.1 General Soccer Robot	40
2.2 Goalkeeper Robot	43
3 Strategies	44
3.1 Attacker	45
3.2 Defender	46
3.3 Goalkeeper	47
4 Navigation and Obstacle Avoidance Using Vector Field Method	47
5 Kinematic Model of the Soccer Robot	51
6 Proportional Control	53
7 Summary	55
Chapter 5. Simulation and Implementation 	56
1 Introduction	56
2 Computer Simulation	57
2.1 Static Point Tracking	57
2.2 Dynamic Point Tracking	57
3 User Interface	63
4 Practical Pictures	64
5 A Three-on-Three Robot Soccer Game	71
Chapter 6. Conclusion and Future Works	76
1 Conclusion	76
2 The Future Works	77
2.1 The Hardware Part	77
2.2 The Software Part	77
References	78
Biography   	81
                                    

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校內：2003-07-10公開
校外：2003-07-10公開

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