ARVAND: A Soccer Player Robot

摘要

ARVAND is a robot specially designed and construct- Ed for playing soccer in the medium-size league According to Robocup rules and regulations. This Robot consists of a moving mechanism, motion- Control hardware, software, and a wireless commu- Nication system. The motion mechanism consists Of a drive unit, a steer unit, and a castor wheel. Motion control is carried out by a special control Board that uses two microcontrollers to carry out The software system decisions and transfers them To the robot mechanics.