A PRACTICAL APPROACH TO MODELING, CONTROL AND SELF-LOCALIZATION OF A FULLY AUTONOMOUS SOCCER ROBOT BESED ON SENSOR AND INFORMATION FUSION

摘要

Autonomous mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. This paper wants to give a general description to development of an autonomous robot and the cooperative team behavior in dynamic and uncertain environments. We have tried to focus on areas such as omni directional mechanism, cooperative behavior, world modeling, fuzzy decisions and behavior learning. The project is described in two major sections: Hardware and Software. The software is developed in two main parts, one is the server application which consists Network, World Modeling, Global AI, Condition Monitoring and the second is a player application which consists Image processing. Network, local AI, Trajectory Planning and a MIMO Motion Controller. We utilize the sensor data fusion method both in the self localization and world modeling. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. The hardware consists of the robot itself and the driver circuit board. The methods have been tested in the many Robocup competition field middle size robots. Some new interesting methods are described in the current report.