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研究生： 林祺豐
Lin, Chi-Feng
論文名稱： 以動態切換式策略設計實現五對五機器人足球競賽
Design and Implementation of Dynamic Switching Strategy for 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： 2004
畢業學年度： 92
語文別： 英文
論文頁數： 98
中文關鍵詞： 機器人足球競賽
外文關鍵詞： Dynamic Switching Strategy, Three Layers Image Processing, Modified Asymptotic Control, Reposition Controller
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    • 　　本論文主要係探討多個足球機器人行為策略之研究。整個機器人足球競賽系統為一全域式視覺回授控制系統。藉由架設在競賽場地上方的攝影機負責擷取場地上的畫面，並將影像資訊傳送至主控電腦端，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並決定我方策略後，經由無線傳輸模組下達對應命令，機器人接收命令並即時執行。本論文首先提出所設計之機器人足球競賽系統，並詳述影像處理之流程，其中包括三階層影像處理、軟體搜尋顏色範圍、以及身分辨識等部分。接著，我們提出動態切換式策略來分配每個足球機器人之目標與行為，賦予每個足球機器人所需扮演的角色以進行攻守策略。最後以實驗與實際進行五對五機器人足球競賽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 confer the research of behavior strategies on multiple soccer robots. The robot soccer system can be considered as a global visual feedback system. The image of the field is captured via the camera mounted above of the field, and the information of image data are transmitted to the host computer, and these image data are analyzed and recognized to obtain the field environmental dynamic information. After the host computer gauges the relative situation between the ball and the robots, appropriate strategies, can be decided and then send to the corresponding robots through the wireless communication system. All robots receive and execute commands immediately. In this thesis, a novel structure of the robot soccer system is proposed firstly. Then the details of the image flow system including three-layer-type image processing, color range searching method, and the identity reorganization are propounded. After that, we propose the dynamic switching strategy to assign the role and behavior of each soccer robot. The soccer robots portray attacker or defender according to the strategy system in the dynamic environment. Finally, the experiments and real five-on-five robot soccer competition are performed to verify the benefit and the feasibility of the developed schemes.

    Contents 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. Overview of the Robot Soccer System..........................4 2.1 Introduction........................................................4 2.2 Overview of the Robot Soccer Game...................................5 2.3 Robot Soccer System.................................................6 2.4 Hardware Specification of the Robot Soccer System...................9 2.4.1 The Camera........................................................9 2.4.2 Image Grabbing Card...............................................12 2.4.3 Wireless Communication System.....................................14 2.4.4 Host Computer.....................................................16 2.5 Hardware Configuration of the Soccer Robot..........................16 2.5.1 Architecture of Soccer Robot......................................22 2.5.2 Battery Module and Voltage Regulator Module.......................22 2.5.3 The Control Unit Module...........................................23 2.5.4 Steering Motor Driver Module and Kicking Device Motor Driver Module.....................................................25 2.6 Summary.............................................................27 Chapter 3. Vision System................................................29 3.1 Introduction........................................................29 3.2 Overview of the Vision System.......................................31 3.2.1 The Important Colors and Markers..................................32 3.3 The Three Layers Image Processing (3LIP)............................34 3.3.1 The Global Image Search...........................................35 3.3.2 Color Association Filter..........................................37 3.3.3 Noise Filter......................................................40 3.3.4 Classification....................................................41 3.4 Identification and Orientation......................................43 3.5 The Correction of Object Coordinate.................................45 3.6 Local Image Search..................................................47 3.7 Results.............................................................48 3.8 Operation of Interface..............................................51 Chapter 4. Dynamic Switching Strategy...................................54 4.1 Introduction........................................................54 4.2 Dynamic Switching Strategy..........................................55 4.2.1 Division of the Field.............................................59 4.2.2 Methodology of DSS................................................60 4.2.3 The Selection of Target and Assignation of Behavior for General Robots..........................................................62 4.2.4 The Selection of Target and Assignation of Behavior for Defensive Robot.........................................................69 4.2.5 The Selection of Target and Assignation of Behavior for Goalkeeper..............................................................71 4.3 Modified Asymptotic Control.........................................75 4.3.1 To Design of MAC..................................................76 4.4 Reposition Controller for Goalkeeper................................79 4.5 Summary.............................................................81 Chapter 5.Experimental Results..........................................82 5.1 Introduction........................................................82 5.2 Testing Platform of the DSS.........................................83 5.3 Pictures of the Formation...........................................86 5.4 Pictures of Five-on-Five Robot Soccer Game..........................88 Chapter 6. Conclusion and Future Works..................................92 6.1 Conclusion..........................................................92 6.2 Future Works........................................................93 References..............................................................94 Biography...............................................................98

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