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1、Proceedingsofthe2004IEEEInternationalConferenceonNetworking.Sensing&ControlTaipei,Taiwan.March21-23.2004RoleConstructionandRecognitioninRobotSoccerGamesChingChangWongChurkPoHuangDepartmentofElectricalEngineeringDepartmentofElectricalEngineeringTamkangUniversityNationalTa
2、iwanUniversityTaiwan,R.O.C.Taiwan,R0.C.wong@ee.tku.edu.twd92921003@ntu.edu.twthecapturedpicture.Theobject’smessagesincludetheAbstract-Inihispaper,ameihodfortherolepositionofball,positionsoftenrobotsofbothteams,andconstructionandrecognitionofpvesoccerrobotsintheforwarddir
3、ectionofOUTfiverobots.Basedontheserobotsoccergameisproposed.First,fiveround-shapeexbactedmessages,thecomputermakesthedecisionandlabelsthatcomposeofblackandwhitecolorsaregivesthecommandtoOUTfivesoccerrobotsthroughtheproposediorecognizetherolesoffiverobots.Then,anwirelessc
4、ommunicationsystem.Theactionflowchartofanglerecognitionalgorithmisproposedtorecognizetheprocessintherobotsoccergamecanbedescribedasthesefiveround-shapelabels.Thisround-shapelabelFigure1,wheretherearethreemainparts:(a)Visionthatcomposesofblackandwhitecalorisproposedsosyst
5、em,(b)Hostcomputersystem,and(c)Soccerrobot.Inthatonlythreekindsofcolormodels(yellow,blue,andthevisionsystem,theobject’smessagesareextractedinorange)tofindthepositionsofenemies,friendr,andballtheimageprocessbasedonthecapturedimageofthefromthecapturedfielakimage.Inthisway,
6、thisproposedglobalvisiononthegamefieldfromtheCCD.Inthehostmethodcouldsolvetheproblemsthatrobotscannotbecomputersystem,therearethreemainparts:(a)Strategyfoundortherolecannotberecognizedcorrecilywhendecisionmechanism,@)Pathplanning,and(c)Commandmanykinakofcolorlabelsareuse
7、dtorecognizetherolesencoder.Thestrategydecisionmechanismdecidestheofrobots.Fromtherealapplication,wecanseethatpositionandforwarddirectionofthedestinationforOUTthesejivesoccerrobotscanberecognizedfastandfiverobotsbasedonallexlractedmessagesfromtheimagepreciselybythispropo
8、sedmethod.process;Then,thepathplanningdeterminesthecommandforeachrobotandthecommandencoderencodesthisKe
