tailieunhanh - Robot Soccer Part 4

Tham khảo tài liệu 'robot soccer part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 68 Robot Soccer Our work is related to RoboCup. This is an international initiative to promote research on the field of Robotics and Artificial Intelligence. This initiative proposes a very complex problem a soccer match in which several techniques related to these field can be tested evaluated and compared. The long term goal of the RoboCup project is by 2050 develop a team of fully autonomous humanoid robots that can win against the human world champion team in soccer. This work is focused on the Standard Platform League. In this league all the teams use the same robot and changes in hardware are not allowed. This is the key factor that makes that the efforts concentrate on the software aspects rather than in the hardware. This is why this league is known as The Software League. Until 2007 the chosen robot to play in this league was Aibo robot. But since 2008 there is a new platform called Nao figure 1 . Nao is a biped humanoid robot this is the main difference with respect Aibo that is a quadruped robot. This fact has had a big impact in the way the robot moves and its stability while moving. Also the sizes of both robots is not the same. Aibo is 15 cm tall while Nao is about 55 cm tall. That causes the big difference on the way of perception. In addition to it both robots use a single camera to perceive. In Aibo the perception was 2D because the camera was very near the floor. Robot Nao perceives in 3D because the camera is at a higher position and that enables the robot to calculate the position of the elements that are located on the floor with one single camera. Many problems have to be solved before having a fully featured soccer player. First of all the robot has to get information from the environment mainly using the camera. It must detect the ball goals lines and the other robots. Having this information the robot has to self-localise and decide the next action move kick search another object etc. The robot must perform all these tasks very fast in .