跳到主要內容

臺灣博碩士論文加值系統

(52.203.18.65) 您好!臺灣時間:2022/01/19 16:43
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:郭有鎮
研究生(外文):You-Zhen Guo
論文名稱:設計實現環形電位場控制法於三對三足球機器員競賽系統
論文名稱(外文):Design and Implement Ring Potential Field Control for a Three-on-Three Robot Soccer Game System
指導教授:李祖聖
指導教授(外文):Tzuu-Hseng S. Li
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:英文
論文頁數:78
中文關鍵詞:足球機器員電位場控制
外文關鍵詞:Potential field controlRobot soccer
相關次數:
  • 被引用被引用:1
  • 點閱點閱:252
  • 評分評分:
  • 下載下載:32
  • 收藏至我的研究室書目清單書目收藏:0
本論文主要在研究機器足球員行為動作之控制。首先,依照比賽的規則,我們可以透過一個架設在比賽場地上方的攝影機以擷取動態的環境影像,交由影像擷取卡作數位化處理,再傳送至主電腦作為影像辨識之依據。因為欲辨識的物體均擁有其特有之顏色,所以我們運用色彩RGB值的特性,來辨識出物體的位置及方向。接著,主電腦將藉由無線數據機傳送控制命令至機器足球員。由於在競賽中的機器足球員將非預期性的影響著環境,因此競賽中的機器足球員必須採取一個適當的動作以因應其周遭環境的變動。本論文中,我們設計一個以環形電位場為基礎的控制法,來操控機器足球員的競賽行為以及建立動態目標點來導引機器足球員進入射球區。同時,我們將藉由電腦模擬及實際比賽的結果,來驗證所提出方法的效益及適用性。
This thesis mainly describes the operation and motion control of robots in a fixed field by a global vision system. The control object is that the host computer sends commands to the soccer robot through wireless modem due to the captured images and strategies. On the basis of the instructions from the host computer, the soccer robot with mounted microcontroller will perform a suitable action immediately. The target objects have their specified uniform color, so we can use the RGB values to recognize the target objects and calculated their position and direction information under the given environment. Robot soccer game possesses dynamic environments because competitive robots affect the environment in unpredictable ways. Soccer robots have to take an appropriate action according to the surroundings. Thus we propose a ring potential field control to manipulate the soccer robot, generate the target position, and guide the robot into the shooting area. The efficiency and applicability of the proposed methods are demonstrated by computer simulations and real three-on-three robot soccer games.
Contents page
Chapter 1. Introduction 1
Chapter 2. Setup of the Robot Soccer System 4
Chapter 3. Image Recognition 20
Chapter 4. Ring Potential Field Control of the Mobile Robot 33
Chapter 5. Simulation and Implementation 60
Chapter 6. Conclusion 73
References 75
References
[1]J. Barraquand, J. C. Latombe, Robot motion planning: a distributed representation approach, International Journal Automation, vol. 10, no. 6, 1991.
[2]J. Guldner, V. I. Utiken, H. Hashimoto and F. Harashima, Tracking gradients of artificial potential fields with non-holonomic mobile robots, submitted to ACC, 1995.
[3]J. H. Kim, A booklet on MIROSOT’96 (Micro-Robot World Cup Soccer Tournament), MIROSOT Organizing Committee, April 1996; accessible from http: //www.mirosot.org/.
[4]J. Borenstein and Y. Koren,“Real-time obstacle avoidance for fast mobile robots,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, pp. 1179-1186, September/October, 1989.
[5]B. Kreczmer,“Path planning system for car-like robot,” Proceedings of IEEE International Conference on Robotics & Automation, pp. 40-45, Leuven, Belgium, May 1998.
[6]J. L. Diaz de Leon S. and J. H. Sossa A,“Automatic path planning for a mobile robot among obstacle of arbitrary shape,” IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, Vol. 28, No. 3, pp. 467-472, June 1998.
[7]C. Alexopoulos and P. M. Griffin,“Path planning for a mobile robot,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 22, No. 2, pp.318-322, March/April, 1992.
[8]C. J. Taylor and D. J. Kriegman,“Vision-based motion planning and exploration algorithms for mobile robots,” IEEE Transactions on Robotics and Automation, Vol. 14, No. 3, pp. 417-426, June 1995.
[9]A. Agah and K. Tanie,“Robots Playing to Win: Evolutionary Soccer Strategies,” IEEE International Conf. on Robotics and Automation, Vol. 1, pp. 632-637, 1997.
[10]B. Agah, M. Doyle, C. Drees, Froehlich and K. Kuok,“Robot Soccer for the Study of Learning and Coordination Issues in Multi-agent Systems,”1998 IEEE International Conference on Systems, Man, and Cybernetics, Vol. 4, pp. 3520-3525, 1998.
[11]J. H. Kim, H. S. Shim, H. S. Kim, M. J. Jung, I. H. Choi and J. O. Kim,“A Cooperative Multi-Agent System and Its Real Time Application to Robot Soccer,” Proceedings, IEEE International Conf. on Robotics and Automation, Vol. 1, pp. 638-643, 1997.
[12]K. Han and M. Veloso, “Reactive Visual Control of Multiple Non-Holonomic Robotic Agents,” Proceedings, IEEE International Conf. on Robotics and Automation, pp. 3510-3515, 1998.
[13]M. Bowling and M. Veloso, “Motion Control in Dynamic Multi-Robot Environments,” Proceedings, IEEE International Conf. on Robotics and Automation, pp. 168-173, 1999.
[14]J. P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, “A Motion Planner for Nonholonomic Mobile Robots,” IEEE Trans. on Robotics and Automation, Vol. 10, No. 5, pp. 577-593, 1994.
[15]RoboCup, http://www.robocup.org/.
[16]FIRA, http://www.fira.net/.
[17]H. Kitano,“RoboCup as a Research Program,”Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ‘97, Vol. 3, pp. PS8-PS9, 1997.
[18]S. Hedberg,“Robots Playing Soccer? RoboCup Poses a New Set of AI Research Challenges,”IEEE Expert [see also IEEE Intelligent Systems], Vol. 12 5, pp. 5-9, 1997.
[19]Instruction Manual, VK-C77U Color Video Camera, HITACHI, Ltd. 1996.
[20]User Guide: Matrox Imaging Library, Matrox Electronic Systems Ltd., Canada, 1998.
[21]User’s Manual: SST-2400 Radio Modem Module, ICP DAS 1998.
[22]“TMS320F/C24X DSP Controllers CPU and Instruction Set Reference Guide”
[23]R. C. Gonzales and R. E. Woods. Digital Image Processing. Addison-Wesley, 1992.
[24]E. Ardizzone, A. Chella, and R. Pirrone. A Neural Based Approach to Image Segmentation. ICANN-94, Proc. of the Intermational Conference on Artificial Neural Networks, pp. 1152-1156, Springer-Verlag, London, 1994.
[25]E. Ardizzone, A. Chella, and R. Rizzo. Color Image Segmentation Based on a Neural Gas Network. ICANN-94, Proc. of the Intermational Conference on Artificial Neural Networks, pp. 1161-1164, Springer-Verlag, London, 1994.
[26]Elon Rimon, “Exact Robot Navigation Using Artificial Potential Functions,” Trans. On Robotics and Automation, vol. 8, no. 5, Oct. 1992.
[27]J. H. Kim, K. C. Kim, D. H. Kim, Y. J. Kim and Prahlad Vadakkepat, “Path Planning and Role Selection Mechanism for Soccer Robots,” Proc. of the 1998 IEEE International Conference on Robotics & Automation, pp. 3216-3221, 1998.
[28]H. S. Shim, H. S. Kim, M. J. Jung, I. H. Choi, J. H. Kim and J. O. Kim, “Designing Distributed Control Architecture for Cooperative Multi-Agent System and It’s Real-Time Application to Soccer Robot,” Robotics and Autonomous Systems, pp. 149-165, 1997.
[29]B. J. Lee, S. O. Lee and G. T. Park, Trajectory Generation and Motion Tracking Control for the Robot Soccer Game, IEEE Conf. On Robotics and Automation, pp. 1149-1154,1999.
[30]C. A Lai, “Design of Fuzzy Field Control for a One-on-One Robot Soccer System ” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2001.
[31]T. M. Hung, “Design and implementation of a Three-On-Three Robot Soccer System” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2002.
連結至畢業學校之論文網頁點我開啟連結
註: 此連結為研究生畢業學校所提供,不一定有電子全文可供下載,若連結有誤,請點選上方之〝勘誤回報〞功能,我們會盡快修正,謝謝!
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top