The Base Station Application of ERSOW Team for Communication between Robots

摘要

Robot soccer is an application of swarm robots that require excellent communication and coordination when performing tasks, like localization, mapping, looking for ball and goal position, dribbling the ball, passing the ball to the teammate robot and shooting the ball to the goal. However, the rule prohibits the direct exchange of data communication and coordination. All communication and coordination in the base station must be carried out via local connection supplied by the competition organizer. In this paper, we deliver our base station specifically provided for our wheeled type robot soccer called ERSOW. From each robot, the base station gets robot position and ball position information. These data are then processed as the base station system input to output actions that each robot must perform. Furthermore, our base station system can also be used as a debugging tool during play by visualizing the information obtained by the robot to identify errors. We used unicast and multicast UDP protocol in creating communication between robot and base station (one to one) and base station to robots (one to many).