This paper explains about the development of communication system and strategy algorithms for humanoid robot soccer. Communication module is used to determine the state of the game and communication within a team. Strategy module gets information such as the condition of the field from perception module, position of the robot on the field from localization module, orientation from the compass, and state game from communication module to determine what action should be carried out by the motion module. Robot that acts as executor is a robot which has a distance closer to the ball than the other robots. Other robots will still chase the ball until the robot head tilt angle is 30 degrees. Results show, communication and strategy have successfully implemented among the robots. Robot can score a goal with maximum of 3 times passing without any robot opponent and time to transmit data between robots is less than 0.5 seconds.
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