本論文係探討五對五機器足球員競賽系統之設計與實現。機器足球員競賽乃實現與測試機器人學及人工智慧之平台。整個架構需要整合不同領域之科技。利用架設於球場三公尺高的攝影機傳回之影像資料，加以分析並作決策後，電腦經由無線模組下達控制命令，使足球機器員執行障礙物規避及合作進攻，以求得勝利。足球機器員所表現的智慧行為乃依賴即時的影像處理和適當的控制策略。本論文首先介紹機器足球員系統的硬體架構，而影像感測器為機器足球員競賽系統之唯一輸入及回授，即時影像擷取乃是本論文重要課題之一。接著，提出以模糊邏輯為基礎的角色選擇機制，並將踢球的機會給予最適合的球員。最後，亦提出模糊環形向量場以規避障礙物。電腦模擬與實驗結果驗證所設計實現之機器足球員系統之可行性。

This thesis describes the methodologies to design and implement a five-on-five robot soccer game system. Robot soccer game is proposed as a benchmark for robotics and artificial intelligence. The whole framework requires perfect integration of various domains of technologies. According to the information acquired from CCD camera mounted 3 meters above the field, as well as the decisions of the intelligent strategy, host computer issues commands to soccer robots via wireless modem. The soccer robots are manipulated to perform the tasks of obstacle avoidance, collaboration, and competition for victory. Intelligent behavior of robots results from the precise real-time image extraction and adequate control strategy. In this thesis, the hardware architecture of the system is first introduced. Since the visual sensor is the only feedback of the robot soccer system, the real-time image extraction is one of the key topics. Besides, a dynamic role selection based on fuzzy logic is proposed to determine one suitable soccer robot to shoot the ball. Finally, fuzzy ring univector field is also developed for obstacle avoidance. Demonstrations of the simulation and experiment results show the feasibility of the proposed system.

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