| Summary: | 碩士 === 國立成功大學 === 電機工程學系碩博士班 === 93 === This thesis is mainly to confer the study of the mechanism of dynamic role assignment and behavior strategies on the middle size robot soccer system. Firstly, according to the rules of RoboCup, we can understand clearly that the middle size soccer robot is a fully autonomous robot. The omnidirectional vision system with the broad view has been mounted on the robot and it is the key sensor of this middle size robot soccer system. Through the image processing system, we can analyze the information about the surroundings of the soccer robot to identify the objects and positions of the important features in the field. Secondly, using the wireless communication card, the robot could send the message of image from the independent image processing system to the other one. Then, the mechanism of role assignment will decide the role of each robot, and the control authority of the ball. Each robot possesses the fully autonomous abilities of independent image processing system, wireless communication, and strategy decision system. It would select the attacking or defending strategy according to the information of image and the result of the mechanism of dynamic role assignment. Finally, the efficiency and feasibility of the proposed system are demonstrated by practical experiments.
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