Abstract

This paper presents a low-cost multi-robot system for large populations of soccer robots, a new coordinate system for the soccer robots based on angles between robots and a series of experiments validating robot performance. The new robot platform, the r-one will serve as an educational, outreach and research platform for robotics. We consider the robot's bearing only sensor model, where each robot is capable of measuring the bearing, but not the distance, to each of its neighbors. This work also includes behaviors demonstrating the efficiency of this approach with this bearing-only sensor model. The new local coordinate systems based on angular information is introduced as scale-free coordinate system. Each soccer robot produces its own local scale-free coordinates to determine the relative positions of its neighbors up to an unknown scaling factor. The computation of scale-free coordinates is analyzed with hardware and simulation validation. For hardware, the scale-free algorithm is tailored to low-cost systems with limited communication bandwidth and sensor resolution. The algorithm also uses a noise sensitivity model to reduce the impact of noise on the computed scale-free coordinates. We validate the algorithm with static and dynamic motion experiments.

Design and Implementation of a Soccer Robot

Introduction

The robot soccer game is one of high technology oppositional games which have been rapidly developed in the world recently .At present, there are two series of robot soccer games: FIRA (Federation of International Robot-soccer Association) and ROBOCUP (ROBOT WORLD CUP). In this paper we will only introduce the micro robot soccer game from several robot soccer games such as super micro robot soccer game, single micro robot soccer game, micro robot soccer game, minitype robot soccer game and so on (Urmson, pp. 17).

The system of soccer-robot includes robot vehicle, photography equipment, computer and wireless electropult. According to the function, soccer-robot system has four subsystems like robot vehicle, photography equipment, decision-making, wireless communication. The robot vehicle includes bracket, wheel, electromotor, retarder, driver, control module, and feedback module. There are many universities which have high-level technologies to study the robot in china such as Northeastern University, Harbin Institute of Technology, especially the Industrial Control Technology of Zhe Jiang University and the National University of Defense Technology. Motion control module is the core, so this paper mainly studies one of exploitation means for vehicle's control module (McLurkin, pp. 200).

Hardware Design For Control System

With the developing of computer technology, electronic technology, sensor technology and electric power driving technology, the mechanical-electrical integration products emerge in endlessly in every advanced country. There are many kinds of products such as machine tool, motorcar, instrument, household electric appliances, light machine, packaging machine, printing machine, metallurgy machine, chemical machine, industrial robot, and intelligent robot etc all have new development. The mechanical-electrical integration technology has been paid more and more attention in every aspect, and it can bring great effect to improving the people's live, heightening work efficiency, saving energy sources, decreasing material consumption, strengthen corporation competitive power etc. The motion control technology is one of the central mechanical-electrical integration technologies, so there is ...