Modeling and implementation of a fully autonomous soccer robot based on omnidirectional vision system

• Published in: Industrial robot Vol. 37; no. 3; pp. 279 - 286
• Main Authors: Hamidreza Kasaei, S., Mohammadreza Kasaei, S., Alireza Kasaei, S., Amir Hassan Monadjemi, S., Taheri, Mohsen
• Format: Journal Article
• Language: English
• Published: Emerald Group Publishing Limited 03-05-2010
• Subjects: Football; Image sensors; Objectoriented programming; Robotics
• ISSN: 0143-991X
• DOI: 10.1108/01439911011037686

Purpose The purpose of this paper is to design and implement a team of middle size soccer robots to conform RoboCup middlesize league. Designmethodologyapproach First, according to the rules of RoboCup, a middle size soccer robot was designed. The proposed autonomous soccer robot consists of the mechanical platform, motion control module, omnidirectional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, competition strategies, and obstacle avoidance. This soccer robot equips the laptop computer system and interface circuits to make decisions. Findings In fact, the omnidirectional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and target tracking. The boundaryfollowing algorithm is applied to find the important features of the field. The sensor data fusion method is utilized in the control system parameters, selflocalization, and world modeling. A visionbased selflocalization, and the conventional odometry systems are fused for robust selflocalization. The localization algorithm includes filtering, sharing, and integration of the data for different types of objects recognized in the environment. Originalityvalue This paper presents results of research work in the field of autonomous robotmiddle size soccer robot supported by IAUKhorasgan Branch Isfahan.