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.
Abstract: The main objective of this project is to build an
autonomous microcontroller-based mobile robot for a local robot
soccer competition. The black competition field is equipped with
white lines to serve as the guidance path for competing robots. Two
prototypes of soccer robot embedded with the Basic Stamp II
microcontroller have been developed. Two servo motors are used as
the drive train for the first prototype whereas the second prototype
uses two DC motors as its drive train. To sense the lines, lightdependent
resistors (LDRs) supply the analog inputs for the
microcontroller. The performances of both prototypes are evaluated.
The DC motor-driven robot has produced better trajectory control
over the one using servo motors and has brought the team into the
final round.