Robot Soccer with Local Vision

Abstract

. We designed a family of completely autonomous mobile robots with local intelligence. We developed our own controllers with a variety of digital/ analog I/O facilities and our own operating system RoBIOS, which allows maximum flexibility. Our robots have a number of on-board sensors, including vision, and do not rely on global sensor systems. The on-board computing power is sufficient to analyse several color images per second. This enables our robots to perform several different task such as navigation, map generation, or intelligent group behavior and does not limit them to the game of robot soccer. For playing soccer, we devised a number of strategies to detect the ball and compute an approach trajectory in order to push the ball into the goal. 1 Introduction After our experience in participating in the AAAI Mobile Robot Competition [2], with large and heavy commercial mobile robot platforms, we decided to develop completely new mini-robots to enter the small robot leagu...