Design and Implementation a Fully Autonomous Soccer Player Robot
Omni directional mobile robots have been popularly
employed in several applications especially in soccer player robots
considered in Robocup competitions. However, Omni directional
navigation system, Omni-vision system and solenoid kicking
mechanism in such mobile robots have not ever been combined. This
situation brings the idea of a robot with no head direction into
existence, a comprehensive Omni directional mobile robot. Such a
robot can respond more quickly and it would be capable for more
sophisticated behaviors with multi-sensor data fusion algorithm for
global localization base on the data fusion. This paper has tried to
focus on the research improvements in the mechanical, electrical and
software design of the robots of team ADRO Iran. The main
improvements are the world model, the new strategy framework,
mechanical structure, Omni-vision sensor for object detection, robot
path planning, active ball handling mechanism and the new kicker
design, , and other subjects related to mobile robot
[1] Kitano, H. (1997a) RoboCup: The robot world cup initiative, Proceeding
First International Conference on Autonomous Agents, pp. 340-347
[2] Alexander Gloye, Ra'ul Rojas. Robot Heal Thyself: Precise and Fault-
Tolerant Control of Imprecise or Malfunctioning Robots. RoboCup 2005
International Symposium, Osaka, japan, July, 2005.R. J. Vidmar. (1992,
Aug.). On the use of atmospheric plasmas as electromagnetic reflectors.
IEEE Trans. Plasma Sci. [Online]. 21(3), pp. 876-880. Available:
http://www.halcyon.com/pub/journals/21ps03-vidmar
[3] Kortenkamp , D.; Bonasso ,P. & Murphy , R. , editors (1998). Artificial
Intelligence and Mobile Robotics . AAAI Press / MIT Press
[4] Yagi , Y. (1999) . Omni directional Sensing and its Applications, IEICE
TRANS ,INF. & SYST . Vol. E82-D(No.3), pp. 568-579.
[5] Ishiguro H. (1998), Compact omni directional sensors and their
applications, M & E, Kougyou-Chosakai, March 1998. (In Japanese)
available from: http://www.accowle.com/english/spec.html
[6] 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.
[7] 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
[8] Khatib, O. (1985). Real-time obstacle avoidance for manipulators and
mobile robots. In Proc. of the IEEE Intl. Conf. on Robotics and
Automation, pages 500-505, St. Louis, Missouri.
[9] Lee, Lee, & Park, "Trajectory Generation and Motion Tracking for the
Robot Soccer Game," Proceedings of the 1999 IEEE International
Conference on Intelligent Robots and Systems, pg 1149-1154, 1999.
[1] Kitano, H. (1997a) RoboCup: The robot world cup initiative, Proceeding
First International Conference on Autonomous Agents, pp. 340-347
[2] Alexander Gloye, Ra'ul Rojas. Robot Heal Thyself: Precise and Fault-
Tolerant Control of Imprecise or Malfunctioning Robots. RoboCup 2005
International Symposium, Osaka, japan, July, 2005.R. J. Vidmar. (1992,
Aug.). On the use of atmospheric plasmas as electromagnetic reflectors.
IEEE Trans. Plasma Sci. [Online]. 21(3), pp. 876-880. Available:
http://www.halcyon.com/pub/journals/21ps03-vidmar
[3] Kortenkamp , D.; Bonasso ,P. & Murphy , R. , editors (1998). Artificial
Intelligence and Mobile Robotics . AAAI Press / MIT Press
[4] Yagi , Y. (1999) . Omni directional Sensing and its Applications, IEICE
TRANS ,INF. & SYST . Vol. E82-D(No.3), pp. 568-579.
[5] Ishiguro H. (1998), Compact omni directional sensors and their
applications, M & E, Kougyou-Chosakai, March 1998. (In Japanese)
available from: http://www.accowle.com/english/spec.html
[6] 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.
[7] 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
[8] Khatib, O. (1985). Real-time obstacle avoidance for manipulators and
mobile robots. In Proc. of the IEEE Intl. Conf. on Robotics and
Automation, pages 500-505, St. Louis, Missouri.
[9] Lee, Lee, & Park, "Trajectory Generation and Motion Tracking for the
Robot Soccer Game," Proceedings of the 1999 IEEE International
Conference on Intelligent Robots and Systems, pg 1149-1154, 1999.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55475", author = "S. H. Mohades Kasaei and S. M. Mohades Kasaei and S. A. Mohades Kasaei and M. Taheri and M. Rahimi and H. Vahiddastgerdi and M. Saeidinezhad", title = "Design and Implementation a Fully Autonomous Soccer Player Robot", abstract = "Omni directional mobile robots have been popularly
employed in several applications especially in soccer player robots
considered in Robocup competitions. However, Omni directional
navigation system, Omni-vision system and solenoid kicking
mechanism in such mobile robots have not ever been combined. This
situation brings the idea of a robot with no head direction into
existence, a comprehensive Omni directional mobile robot. Such a
robot can respond more quickly and it would be capable for more
sophisticated behaviors with multi-sensor data fusion algorithm for
global localization base on the data fusion. This paper has tried to
focus on the research improvements in the mechanical, electrical and
software design of the robots of team ADRO Iran. The main
improvements are the world model, the new strategy framework,
mechanical structure, Omni-vision sensor for object detection, robot
path planning, active ball handling mechanism and the new kicker
design, , and other subjects related to mobile robot", keywords = "Mobile robot, Machine vision, Omni directional
movement, Autonomous Systems, Robot path planning, Object
Localization.", volume = "3", number = "3", pages = "278-6", }