本論文主要係探討多個足球機器人行為策略之研究。整個機器人足球競賽系統為一全域式視覺回授控制系統。藉由架設在競賽場地上方的攝影機負責擷取場地上的畫面，並將影像資訊傳送至主控電腦端，再經由影像分析辨識之後，得到足球場上環境的動態資訊。主控電腦判斷場上機器人與球的相對狀況並決定我方策略後，經由無線傳輸模組下達對應命令，機器人接收命令並即時執行。本論文首先提出所設計之機器人足球競賽系統，並詳述影像處理之流程，其中包括三階層影像處理、軟體搜尋顏色範圍、以及身分辨識等部分。接著，我們提出動態切換式策略來分配每個足球機器人之目標與行為，賦予每個足球機器人所需扮演的角色以進行攻守策略。最後以實驗與實際進行五對五機器人足球競賽說明所設計之機器人足球系統的效益與適用性。

　　This thesis is mainly to confer the research of behavior strategies on multiple soccer robots. The robot soccer system can be considered as a global visual feedback system. The image of the field is captured via the camera mounted above of the field, and the information of image data are transmitted to the host computer, and these image data are analyzed and recognized to obtain the field environmental dynamic information. After the host computer gauges the relative situation between the ball and the robots, appropriate strategies, can be decided and then send to the corresponding robots through the wireless communication system. All robots receive and execute commands immediately. In this thesis, a novel structure of the robot soccer system is proposed firstly. Then the details of the image flow system including three-layer-type image processing, color range searching method, and the identity reorganization are propounded. After that, we propose the dynamic switching strategy to assign the role and behavior of each soccer robot. The soccer robots portray attacker or defender according to the strategy system in the dynamic environment. Finally, the experiments and real five-on-five robot soccer competition are performed to verify the benefit and the feasibility of the developed schemes.

Contents

Abstract................................................................Ⅰ
Acknowledgment..........................................................Ⅲ
Contents................................................................Ⅳ
List of Figures.........................................................Ⅶ
List of Tables..........................................................Ⅹ

Chapter 1. Introduction.................................................1
1.1 Motivation..........................................................1
1.2 Thesis Organization.................................................3

Chapter 2. Overview of the Robot Soccer System..........................4
2.1 Introduction........................................................4
2.2 Overview of the Robot Soccer Game...................................5
2.3 Robot Soccer System.................................................6
2.4 Hardware Specification of the Robot Soccer System...................9
2.4.1 The Camera........................................................9
2.4.2 Image Grabbing Card...............................................12
2.4.3 Wireless Communication System.....................................14
2.4.4 Host Computer.....................................................16
2.5 Hardware Configuration of the Soccer Robot..........................16
2.5.1 Architecture of Soccer Robot......................................22
2.5.2 Battery Module and Voltage Regulator Module.......................22
2.5.3 The Control Unit Module...........................................23
2.5.4 Steering Motor Driver Module and Kicking Device
Motor Driver Module.....................................................25
2.6 Summary.............................................................27

Chapter 3. Vision System................................................29
3.1 Introduction........................................................29
3.2 Overview of the Vision System.......................................31
3.2.1 The Important Colors and Markers..................................32
3.3 The Three Layers Image Processing (3LIP)............................34
3.3.1 The Global Image Search...........................................35
3.3.2 Color Association Filter..........................................37
3.3.3 Noise Filter......................................................40
3.3.4 Classification....................................................41
3.4 Identification and Orientation......................................43
3.5 The Correction of Object Coordinate.................................45
3.6 Local Image Search..................................................47
3.7 Results.............................................................48
3.8 Operation of Interface..............................................51

Chapter 4. Dynamic Switching Strategy...................................54
4.1 Introduction........................................................54
4.2 Dynamic Switching Strategy..........................................55
4.2.1 Division of the Field.............................................59
4.2.2 Methodology of DSS................................................60
4.2.3 The Selection of Target and Assignation of Behavior for
General Robots..........................................................62
4.2.4 The Selection of Target and Assignation of Behavior for
Defensive Robot.........................................................69
4.2.5 The Selection of Target and Assignation of Behavior for
Goalkeeper..............................................................71
4.3 Modified Asymptotic Control.........................................75
4.3.1 To Design of MAC..................................................76
4.4 Reposition Controller for Goalkeeper................................79
4.5 Summary.............................................................81

Chapter 5.Experimental Results..........................................82
5.1 Introduction........................................................82
5.2 Testing Platform of the DSS.........................................83
5.3 Pictures of the Formation...........................................86
5.4 Pictures of Five-on-Five Robot Soccer Game..........................88

Chapter 6. Conclusion and Future Works..................................92
6.1 Conclusion..........................................................92
6.2 Future Works........................................................93

References..............................................................94
Biography...............................................................98

[1]H. Kitano, M. Asada, I. Noda, H. Matsubara “RoboCup: Robot World Cup,” IEEE Robot. Automat. Mag., Vol. 5, No. 3, pp. 30-36, Sep. 1998.
[2]S. Hedberg, “Robots Playing Soccer? RoboCup Poses a New Set of AI Research Challenges,” IEEE Expert [see also IEEE Intelligent Systems], Vol. 12, pp. 5-9, 1997.
[3]Jin-Oh Kim, Pradeep K. Khosla, H. Kitano “Real-Time Obstacle Avoidance Using Harmonic Potential Function,” IEEE Trans. Robotics Automat., Vol. 8, No.3, pp. 338-349, June 1992.
[4]RoboCup, http://www.robocup.org/.
[5]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., Taiwan, R.O.C., June, 2001.
[6]J. Barraquand, J. C. Latombe, “Robot motion planning: a distributed representation approach,” International Journal Automation, Vol. 10, No. 6, 1991.
[7]Min Gyu Park, Jae Hyun Jeon, and Min Cheol Lee, “Obstacle avoidance for mobile robots using artificial potential field approach with simulated annealing,” IEEE Conf. On IEEE International Symposium, Vol. 3, pp. 1530-1535, 2001.
[8]R. C. Arkin. Behavior-Based Robotics. The MIT Press, 1998.
[9]I. F. Lin, “Design and Implementation of a One-on-One Robot Soccer Game,” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2001.
[10]N. O. Khessal, M. Y. Naing, E. N. Boon, P. S. Oo, L. H. Shun, “Vision-Based Autonomous Soccer Robots,” IEEE Conf. On Robotics and Automation, pp. 207-212, 2000.
[11]FIRA, http://www.fira.net/.
[12]Laws of the F180 League. http://www.itee.uq.edu.au/~wyeth/f180rules.htm.
[13]Instruction Manual, DCR-PC330 Digital Video Camera Recorder, SONY, Ltd. 2003.
[14]User’s Manual: Matrox Meteor-Ⅱ Installation and Hardware Reference, Matrox Electronic Systems Ltd., 2000.
[15]User Guide, Matrox Imaging Library, Matrox Electronic Systems Ltd., Canada, 1998.
[16]User’s Manual: SST-2400 Radio Modem Module, ICP DAS 1999.
[17]TMS320F/C24x DSP Controllers Reference Guide: CPU and Instruction Set, Texas Instruments, 1999.
[18]R. C. Gonzales and R. E. Woods. Digital Image Processing. Addison-Wesley, 1992.
[19]E. Ardizzone, A. Chella, and R. Pirrone, “A Neural Based Approach to Image Segmentation,” Proc. of the International Conference on Artificial Neural Networks, pp. 1152-1156, London, 1994.
[20]E. Ardizzone, A. Chella, and R. Rizzo, “Color Image Segmentation Based on a Neural Gas Network,” Proc. of the International Conference on Artificial Neural Networks, pp. 1161-1164, London, 1994.
[21]B.L. Brumitt and A.Stentz. “Dynamic mission of Planning for multiple mobile robots,” in Proc. IEEE Int. Conf. Robot. Automat. pp. 40-45, April 1998.
[22]M. Bowling and M. Veloso, “Motion Control in Dynamic Multi-Robot Environments,” Proc. of IEEE International Conf. on Robotics and Automation, pp. 168-173, 1999.
[23]R. E. Fayek et. Al., “A System Architecture for a Mobile Robot on Activies and a Blackboard Control Unit,” IEEE Robotics and Auto. Conf., pp. 267-274, 1993.
[24]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,” Proc. of IEEE International Conf. on Robotics and Automation, Vol. 1, pp. 638-643, 1997.
[25]K. Han and M. Veloso, “Reactive Visual Control of Multiple Non-Holonomic Robotic Agents,” Proc. of IEEE International Conf. on Robotics and Automation, pp. 3510-3515, 1998.
[26]M. Bowling and M. Veloso, “Motion Control in Dynamic Multi-Robot Environments,” Proc. of IEEE International Conf. on Robotics and Automation, pp. 168-173, 1999.
[27]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.
[28]C. Y. Chen, “Design and Implementation of a Role Assignment for the Five-on-Five Robot Soccer Competition,” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2003.
[29]S. C. Lee, “Design and implementation of a Five-On-Five Robot Soccer Game System” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2003.
[30]Rosemary Emery, Kevin Sikorski, Tucker Balch “ Protocols for Collaboration, Coordination and Dynamic Role Assignment in a Robot Team,” Proc. of IEEE International Conf. on Robotics and Automation, pp. 3008-3015, May 2002.
[31]Sng, H.L, G. Sen Gupta, C.H. Messom, “Strategy for Collabration in Robot Soccer,” Proceedings. The First IEEE International Workshop on, pp.347-351, Jan. 2002
[32]J. H. Kim, K. C. Kim, D. H. Kim, Y. J. Kim and P. Vadakkepat, “Path Planning and Role Selection Mechanism for Soccer Robots,” Proc. of the 1998 IEEE International Conference on Robotics and Automation, pp. 3216-3221, 1998.
[33]Y. Z. Guo, “Design and Implement Ring Potential Field Method for a Three-on-Three Robot Soccer Game,” Master Thesis, Dept. of Electrical Engineering, National Cheng Kung Univ., Tainan, Taiwan, R.O.C., June 2002.
[34]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.
[35]Elon Rimon, “Exact Robot Navigation Using Artificial Potential Functions,” IEEE Trans. On Robotics and Automation, Vol. 8, No. 5, pp. 501-518, Oct. 1992.
[36]S. Y. Cha, B. S. Kim, G. T. Kim, “Vision Steered Micro Robot for MIROSOT,” Proc. Of MIROSOT Workshop, 1997
[37]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.
[38]J. L. Diaz, S. de Leon, and J. H. Sossa, “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.
[39]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.
[40]E. Rimon, “Exact Robot Navigation Using Artificial Potential Functions,” Trans. On Robotics and Automation, Vol. 8, No. 5, Oct. 1992.
[41]Hyun Sik Shim, Yoon Gyeoung Sung, “Asymptotic Control for Wheeled Mobile Robots with Driftless Constraints,” SDOS Robotics and Autonomous Systems, Vol. 43, pp. 29-37, April 30, 2003.
[42]Riccardo Cassinis and Alessandro Rizzi, “Design Issues for a Robocup Goalkeeper,” in Robocup-99: Robo Soccer World Cup III, M. Veloso, E. Pagello, and H. Kitano, eds. Berlin Germany: Springer-Verlag, 2000.