Visual Servo Control Algorithm for Soccer Robots Considering Time-Delay

摘要

ABSTRACTAn efficient visual servo control algorithm which uses primary/secondary controller and the Smith predictor based on an accurate model of robot soccer system including time-delay is suggested for micro-robot soccer tournament (MIROSOT). In this paper, we analyze and design control system of soccer robot in the frame of visual servoing. We think that our approach encourages more systematic approaches to soccer robot system. MIROSOT system is a typical direct visual servo system with a fixed camera and mobile robots with internal sensors such as encoders. In real games, encoders often offer wrong position data due to slips and collisions between robots or between a robot and a wall. However, vision provides positions and orientations of robots in certain accuracy regardless of slips or collisions. In spite of this advantage inevitable time-delay arising from vision and communication subsystems seriously causes undesired effects in control of robots. In this paper we present a visual servo controller...