Design a Modular Architecture for Autonomous Soccer Robot Based on Omnidirectional Mobility with Distributed Behavior Control

2010 ◽  
Vol 2 (6) ◽  
pp. 508-513 ◽  
Author(s):  
S. Hamidreza Kasaei ◽  
S. Mohammadreza Kasaei ◽  
S. Alireza Kasaei
Keyword(s):  
Behavior Control ◽  
Modular Architecture ◽  
Soccer Robot ◽  
Distributed Behavior

A MODULAR ARCHITECTURE FOR HUMANOID SOCCER ROBOTS WITH DISTRIBUTED BEHAVIOR CONTROL

2008 ◽  
Vol 05 (03) ◽  
pp. 397-416 ◽  
Author(s):  
CARLOS ANTONIO ACOSTA-CALDERON ◽  
RAJESH ELARA MOHAN ◽  
CHANGJIU ZHOU ◽  
LINGYUN HU ◽  
PIK KONG YUE ◽  
...  
Keyword(s):  
Control Architecture ◽  
Behavior Control ◽  
Modular Architecture ◽  
Embedded Control ◽  
Control Schemes ◽  
Control Centre ◽  
Embedded Controller ◽  
Advanced Robotics ◽  
Distributed Behavior ◽  
And Control

This paper presents an embedded control architecture constructed for Robo-Erectus, a soccer-playing humanoid robot developed at the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic. The Robo-Erectus team has participated in the KidSize category of RoboCup's Humanoid League since 2002, collecting different awards. The latest version of Robo-Erectus has many capabilities that can be exploited to improve the robot's behavior. The new embedded controller has made possible the first stage of the performance (displayed during RoboCup 2007), including network communication, mapping, and localization. The new mechanical, electronic design, embedded control architecture, and control schemes are described in this paper. In addition to the hardware, the paper presents details of the modules for gait generation, vision, behavior control, and communication.

scholarly journals A PROPOSAL FOR A MULTI-DRIVE HETEROGENEOUS MODULAR PIPE-INSPECTION MICRO-ROBOT

2008 ◽  
Vol 05 (02) ◽  
pp. 111-126 ◽  
Author(s):  
ALBERTO BRUNETE ◽  
JOSE EMILIO TORRES ◽  
MIGUEL HERNANDO ◽  
ERNESTO GAMBAO
Keyword(s):  
Degrees Of Freedom ◽  
Visual Inspection ◽  
Modular Approach ◽  
Simulation Environment ◽  
Pipe Inspection ◽  
Behavior Control ◽  
Control Scheme ◽  
Micro Robot ◽  
Different Types ◽  
Distributed Behavior

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inner part of the pipes in order to detect damages, leaks and holes. Due to the different types of existing pipes, a modular approach with different types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a field in which there are not many prototypes. The micro-robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototype testing.

scholarly journals Multilayered Fuzzy Behavior Control for an Autonomous Mobile Robot with Multiple Omnidirectional Vision System: MOVIS

2007 ◽  
Vol 11 (1) ◽  
pp. 21-27
Author(s):  
Yoichiro Maeda ◽  
◽  
Wataru Shimizuhira ◽  
Keyword(s):  
Mobile Robot ◽  
Measurement Accuracy ◽  
Vision System ◽  
Dynamic Environment ◽  
Fuzzy Reasoning ◽  
Omnidirectional Vision ◽  
Autonomous Mobile Robot ◽  
Behavior Control ◽  
Soccer Robot ◽  
Absolute Coordinates

We propose a multiple omnidirectional vision system (MOVIS) with three omnidirectional cameras and calculation for measuring an object position and localization in an autonomous mobile robot. In identifying the robot’s location, we improved measurement accuracy by correcting the absolute location based on landmark measurement error in the origin of absolute coordinates. We propose omnidirectional behavior control for collision avoidance and object chasing using fuzzy reasoning in an autonomous mobile robot with MOVIS. We also report experimental results confirming the efficiency of our proposal using a RoboCup soccer robot in a dynamic environment.

Fuzzy Self-Adaptive Soccer Robot Behavior Decision System Design through ROS

2018 ◽  
Vol 62 (3) ◽  
pp. 304011-3040111 ◽  
Author(s):  
Shih-An Li ◽  
Hsuan-Ming Feng ◽  
Sheng-Po Huang ◽  
Chen-You Chu
Keyword(s):  
System Design ◽  
Soccer Robot ◽  
Decision System ◽  
Robot Behavior ◽  
Self Adaptive
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