Multi-Robot Coordination Strategy for 3 vs. 3 Teen-sized Humanoid Robot Soccer Game

• Main Authors: Nien-ChuFang, 方念主
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/z5yn56

碩士 === 國立成功大學 === 電機工程學系 === 105 === Robot competitions are always good platforms for researchers to test and compete their robot systems and algorithms. For the humanoid robot soccer game, any active sensor are prohibited according to the premise of “human-like”. The robot has to plan gaits and maintain balance during moving or kicking a ball to complete the competition. However, with the progress of robot development, multiple-robot coordination and cooperation becomes more and more important. Therefore, this thesis proposes a multi-robot coordination strategy system concerning 3 vs. 3 teen-sized humanoid robot soccer game. Three main technologies are integrated in the system, including object recognition and self-localization, communication, and coordination strategy. Because the line, ball, and goal posts are colored white, we utilize the contour features to recognize them and calculate their positions in robot coordinate. Hence, suppose the robot position in the world coordinate is known, the position of the line, ball, and goal posts in world coordinate can be determined. We figure out the initial position of the robot and update the position by the value of the Inertial Measurement Unit (IMU) and the estimated movement distance. Every robot transmits its location and his own information to the central control player through a communication network to construct a global map used to generate a suitable strategy and to assign roles. A simulation software is constructed in this thesis according to the characteristics of the real robot player and real competitions. After that, experiments show the strategy is effective on humanoid robots. These results illustrate the efficiency of the proposed coordination strategy, where the robot soccer team with the coordination strategy gets more wins.