This paper introduces our first efforts of developing a
new team for RoboCup Middle Size Competition. In our robots we
have applied omni directional based mobile system with omnidirectional
vision system and fuzzy control algorithm to navigate
robots. The control architecture of MRL middle-size robots is a three
layered architecture, Planning, Sequencing, and Executing. It also
uses Blackboard system to achieve coordination among agents.
Moreover, the architecture should have minimum dependency on low
level structure and have a uniform protocol to interact with real
robot.
[1] C.C De wit.: Trends in Mobile Robot and Vehicle Control. Control
Problems in Robotics and Automation. (1998) 151-175.
[2] S.L. Dickerson and B.D. Lapin.: Control of an Omni-Directional
Robotic Vehicle with Mecanum Wheels. National Telesystems
Conference Proceeding. (1991) 1:323-328.
[3] M.-J. Jung, H.-S. Kim, S. Kim, and J.-H. Kim.: Omni-Directional
Mobile Base OK-II. Proceeding of the IEEE International Conference on
Robotics and Automation.(2000) 4:3449-345.
[4] Y. Mori, E. Nakano, T. Takahashi, and K. Takayama.: Mechanism and
Running Modes of New Omni-Directional Vehicle ODV9. JSME
International Journal. (1999) Series C, 42(1): 210-217.
[5] Jong-Suk Choi and Byung Kook Kim, "Near minimum-time direct
voltage control algorithms for wheeled mobile robots with current and
voltage constraints," Robotica volume 19,pp. 29-39. 2001.
[6] D. Kim and S,Rhee , "Design of an Optimal Fuzzy Logic control using
response surface methodology " , IEEE Trans. Fuzzy system,vol 9 , pp
413, JUNE 2001
[7] C.S Tesng, B.-S. Chen, and H.-J Uang , "Fuzzy Traking Control fo
Nonlinear System via T-S Fuzzy Model " , IEEE Trans. Fuzzy
sysrem,vol 9 , pp 381 , JUNE 2001
[8] Y. Yagi, S. Kawato, S. Tsuji, "Real-time omni-directional image sensor
(COPIS) for visionguided navigation", IEEE Trans. on Robotics and
Automation, Vol. 10, N. 1, pp. 11- 22, 1994
[9] P. Lima, A. Bonarini, C. Machado, F. M. Marchese, C. Marques, F.
Ribeiro, D. G. Sorrenti, "Omni-Directional Catadioptric Vision for
Soccer Robots", Special Issue of the Robotics and Autonomous Systems
Journal, Elsevier, Amesterdam, Vol 36, nº 2, 31st Augout 2001. 12. A.
Bonarini, P. Aliverti, M. Lucioni, "An omnidirectional sensor for fast
tracking for mobile robots", Proc. of the 1999 IEEE Instrumentation and
Measurement Technology Conference (IMTC99), IEEE Computer Press,
Piscataway, NJ, pp. 151-157
[10] Fabio M. Marchese, Domenico G. Sorrenti, "Omni-directional vision
with a multi-part mirror", Workshop on EuRoboCup-2000, Amsterdam,
Netherlands, 28th May - 2nd June, proceedings on CD-Rom, Springer.
[11] MRL TDP ROBOCUP 2005 Osaka for middle size soccer robot .
[12] R. Peter Bonnaso and David Kortenkamp, "An Intelligent agent
architecture in hich to pursue robot learning". In proceedings of the
MLC_COLT' 94 Robot Learning Workshop, 1994
[13] Patrick Riley, SPADES system for Parallel Agent Discrete Event
Simulation User's Guide and Reference Manual for Version 0.91,
December 7, 2003. Accessible from http://spades-sim.sourceforge.net
[1] C.C De wit.: Trends in Mobile Robot and Vehicle Control. Control
Problems in Robotics and Automation. (1998) 151-175.
[2] S.L. Dickerson and B.D. Lapin.: Control of an Omni-Directional
Robotic Vehicle with Mecanum Wheels. National Telesystems
Conference Proceeding. (1991) 1:323-328.
[3] M.-J. Jung, H.-S. Kim, S. Kim, and J.-H. Kim.: Omni-Directional
Mobile Base OK-II. Proceeding of the IEEE International Conference on
Robotics and Automation.(2000) 4:3449-345.
[4] Y. Mori, E. Nakano, T. Takahashi, and K. Takayama.: Mechanism and
Running Modes of New Omni-Directional Vehicle ODV9. JSME
International Journal. (1999) Series C, 42(1): 210-217.
[5] Jong-Suk Choi and Byung Kook Kim, "Near minimum-time direct
voltage control algorithms for wheeled mobile robots with current and
voltage constraints," Robotica volume 19,pp. 29-39. 2001.
[6] D. Kim and S,Rhee , "Design of an Optimal Fuzzy Logic control using
response surface methodology " , IEEE Trans. Fuzzy system,vol 9 , pp
413, JUNE 2001
[7] C.S Tesng, B.-S. Chen, and H.-J Uang , "Fuzzy Traking Control fo
Nonlinear System via T-S Fuzzy Model " , IEEE Trans. Fuzzy
sysrem,vol 9 , pp 381 , JUNE 2001
[8] Y. Yagi, S. Kawato, S. Tsuji, "Real-time omni-directional image sensor
(COPIS) for visionguided navigation", IEEE Trans. on Robotics and
Automation, Vol. 10, N. 1, pp. 11- 22, 1994
[9] P. Lima, A. Bonarini, C. Machado, F. M. Marchese, C. Marques, F.
Ribeiro, D. G. Sorrenti, "Omni-Directional Catadioptric Vision for
Soccer Robots", Special Issue of the Robotics and Autonomous Systems
Journal, Elsevier, Amesterdam, Vol 36, nº 2, 31st Augout 2001. 12. A.
Bonarini, P. Aliverti, M. Lucioni, "An omnidirectional sensor for fast
tracking for mobile robots", Proc. of the 1999 IEEE Instrumentation and
Measurement Technology Conference (IMTC99), IEEE Computer Press,
Piscataway, NJ, pp. 151-157
[10] Fabio M. Marchese, Domenico G. Sorrenti, "Omni-directional vision
with a multi-part mirror", Workshop on EuRoboCup-2000, Amsterdam,
Netherlands, 28th May - 2nd June, proceedings on CD-Rom, Springer.
[11] MRL TDP ROBOCUP 2005 Osaka for middle size soccer robot .
[12] R. Peter Bonnaso and David Kortenkamp, "An Intelligent agent
architecture in hich to pursue robot learning". In proceedings of the
MLC_COLT' 94 Robot Learning Workshop, 1994
[13] Patrick Riley, SPADES system for Parallel Agent Discrete Event
Simulation User's Guide and Reference Manual for Version 0.91,
December 7, 2003. Accessible from http://spades-sim.sourceforge.net
@article{"International Journal of Electrical, Electronic and Communication Sciences:62095", author = "Vahid Rostami and Saeed Ebrahimijam and P.khajehpoor and P.Mirzaei and Mahdi Yousefiazar", title = "Cooperative Multi Agent Soccer Robot Team", abstract = "This paper introduces our first efforts of developing a
new team for RoboCup Middle Size Competition. In our robots we
have applied omni directional based mobile system with omnidirectional
vision system and fuzzy control algorithm to navigate
robots. The control architecture of MRL middle-size robots is a three
layered architecture, Planning, Sequencing, and Executing. It also
uses Blackboard system to achieve coordination among agents.
Moreover, the architecture should have minimum dependency on low
level structure and have a uniform protocol to interact with real
robot.", keywords = "Robocup, Soccer robots, Fuzzy controller, Multi
agent.", volume = "1", number = "9", pages = "1376-4", }