Robot soccer competitions provide an interesting opportunity forrobotics and artificial intelligence research. In particular, robotsoccer players must navigate in a dynamic, partially unknownenvironment, co-operate with team-mates and compete with opponents,track moving objects to protect the goal and to kick the ball in theright direction, while performing real time visual perception tasks.Furthermore, all these capabilities must be integrated into a single andcomplete autonomous system. The paper describes our experience inbuilding one of the players of ART (Azzurra Robot Team), designed toparticipate in the RoboCup competition. Such a player, the goal-keeper,is based on a Pioneer 1 robot controlled by means of a binocular visionsystem able to perform its tasks in real time
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