| Summary: | 碩士 === 淡江大學 === 電機工程學系 === 89 === In this thesis, the hardware architecture of the robot soccer system is accomplished and one algorithm for path planning of robot soccer is proposed. By this procedure, a mode of sport action, like human behavior on soccer field, is developed. The following four parts of the robot soccer system are considered: (1) Robot Soccer (RoboDSP for short), (2) Global vision system, (3) Host computer and (4) Wireless communication system. First, a global vision of image is captured by a digital video camera placed above the field. After image processing and path planning of the host computer, the coordinates among the robot soccer, obstacle, and ball are extracted. Then the rotational angle which the robot soccer avoids obstacle is calculated by Fuzzy-Obstacle-Avoidance-Path algorithm (FOAP algorithm). Once the rotational angle is determined, the commands are transmitted to the robot soccer by a wireless radio modem. Finally, based on the received commands, the TI TMS320F240 DSP implemented in the robot soccer is designed to control the motion of the robot soccer to avoid the obstacle to the ball. This thesis uses the TI TMS320F240 digit signal processor (DSP), which produced by Texas Instrument, as controller core of robot soccer and designs one-on-one robot soccer game. This real-time experiment is considered to illustrate the effectiveness and applicability of the Fuzzy-Obstacle-Avoidance-Path algorithm.
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