A New Control Framework for Robotic Soccer System
| Authors: | Lee Dong-Hun, SungKyunKwan University, Korea, Republic of
Baek Seung-Min, SungKyunKwan University, Korea, Republic of
Moon Tae-Kyung, SungKyunKwan University, Korea, Republic of
Chung Chae-Wook, Ansan College of Technology, Korea, Republic of
Kuc Tae-Yong, SungKyunKwan University, Korea, Republic of |
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| Topic: | 7.5 Intelligent Autonomous Vehicles |
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| Session: | Playing with Automation – Robotsoccer |
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| Keywords: | Robot soccer, sensor network, intelligent control |
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Abstract
This paper presents a new control framework for robotic soccer system which consists of a group of 11 micro-robots, external vision system, ultrasonic GPS sensor network, RF communication modules, and main computer to perform a distributed sensing and control for successful soccer game in X-large league Mirosot of FIRA[11]. In the proposed control framework, even though the single CCD camera covers limited area of workspace and each GPS sensor has limited capability with a simple signal-processing engine, combined usage of the two kinds of sensors makes it possible to perform a large task through coordinated information sharing and wireless communication covering a large working area. Using the capability of self-localization and tracking with the sensor network, we show the proposed control framework can be applied to a large scale robot soccer system.
