Cooperative Soccer Play by Real Small-Size Robot

Abstract

One of the typical cooperative actions is the pass play in RoboCup small-size league. This paper presents three technical key features to realize robust pass play between robots. The first one is the high resolution image processing to detect the positions and orientations of the robots. The second one is the control algorithm to move and adjust the robots for the pass play. The third one is the mechanism to catch the ball moving at high speed. This paper discusses these methods and shows the effectiveness of the methods by experimental results.

Robust and Accurate Detection of Object Orientation and ID Without Color Segmentation

“…Table 1 shows the simulation results from evaluations of 360 patterns (1 degree each). Our method more accuracy estimates orientation than general methods based on the least-squares method (K. Murakami et al, 2003) and the second-moment method (Ball D. et al, 2004) using the white bar ID plate. The accurate center position of the blue/yellow colored circle for main marker can not be obtained, when there is noise in the circle's perimeter.…”

“…The robot's orientation is calculated using a white stripe and the least squares method (K. Murakami et al, 2003) or second moment (D. Ball et al, 2004). Other sub patches are also used for identification.…”

Dynamic Positioning Method Based on Dominant Region Diagram to Realize Successful Cooperative Play

“…For each point other than the selected ones, we get the arrival time by interpolation. Using these arrival times, we can make the approximate DR diagram as follows 1 .…”

“…The skills in robotic soccer are growing higher and higher by the year. In recent years, especially in Small Size League, the technique for achieving highly cooperative plays among robots are discussed [1,2]. In a cooperative play such as a pass play, the robot receiving the ball must get to where the pass comes through faster than any other robot.…”

Robotic navigation algorithm with machine vision

“…Since they are low-cost systems and that have extensive documentation in terms of instrumentation and mathematical modeling as mentioned in [6], they become the primary choice. On the other hand, there are algorithms based on a global camera as implemented in [7], which can cause that in environments where it is not possible to use a camera in that position, strategies that may increase the complexity of the system or restrict its functionality should be sought. Focusing studies on the design of environmental mapping algorithms and identification of this allows that algorithms such as the one presented in [8], where a trajectory planning algorithm is designed in a virtual environment, can be implemented in real environments.…”