本論文主要是完成人形足球機器人雙人傳球挑戰賽所使用的視覺與
策略系統。要完成整個比賽流程包含了很多方面研究題材的整合，包含
了運動控制、影像處理、定位系統以及機器人之間合作溝通的策略。本
論文中主要針對視覺以及策略系統作深入的探討。影像串流的資料是透
過一個CMOS 感測器經由USB 傳輸至嵌入式主機板Pico-820，使用主機
板上的CPU 來做運算。針對足球場地上的各項特徵物提出了辨識的方
法，並且使用了一個快速的影像分割法來使得物體辨識更加有效率，最
後再提出一個簡化的均值移動(Mean Shift)演算法，把整個視覺系統的計
算量做進一步的減少以提升效能。所有的策略也是由Pico-820 來做運算，
並且針對兩台機器人所扮演的不同角色設計了不同的控制策略。雙人傳
球的溝通係使用無線網路傳輸訊號，整體的通訊架構以及訊號的內容可
以讓兩台機器人的溝通正確無誤。最後實際實驗結果展現所提視覺與策
略系統，可成功地完成人形足球機器人雙人傳球功能。

The goal of this thesis is to achieve a technical challenge of double passing soccer game for humanoid soccer robots in RoboCup competition. There are many topics involved in order to finish the entire procedure, such as image processing algorithms, motion control, localization, and a proper scheme of strategy system. The development of vision and strategy system is mainly concerned in this thesis. The image information is captured by a CMOS sensor and then the image data are processed by an embedded CPU board Pico-820. Vision system works on the tasks of object recognition, which includes the goal, landmark poles and the interval of two black poles. A fast object segmentation method in the image with the need of only one execution loop is used to make the recognition more efficient. After recognitions, a simple mean shift algorithm is adopted to further improve the efficiency and performance of vision system. The computational time is reduced greatly by the algorithm and that time can be utilized to do the localization or control strategies. The strategies of double passing of each robot player are illustrated in flowcharts and the communication between them is via wireless network. The strategies of some more detailed situation are also discussed. All the strategies are also processed in Pico-820. Overall functions of vision and strategy system are programmed in C++. Finally, the experiment results demonstrate that the proposed vision and control strategy system can successfully perform the double passing soccer game.

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