IV SOFTWARE DESIGN
4.1 Robot Programming Language
28 4.1.1
Goal Keeper Coding 28
4.1.2 Defender Coding
35 4.2
2.1 Flow Chart of the Project
49 4.2.1
Flow Chart for Goalie 49
4.2.2 Flow Chart for Defender
50 4.2.3
Flow Chart for Striker 51
4.3 Vision System
52
V RESULTS
5.1 Analysis
53 5.1.1
Strategy Definition 53
5.1.2 Specified for Robot Soccer
54 5.2
Practical Result 55
5.3 Simulation Result
61 5.3.1
Goal Keeper 63
5.3.2 Defender
65
VI DISCUSSION
6.1 Vision System
67 6.1.1
How Computer See the Robots 67
6.1.2 Color Systems
68 6.1.3
Robot Football Camera System 69
6.1.4 Color Balance
70 6.1.5
Color Tuning 72
6.1.6 Detecting Robots
73
VI CONCLUSION AND FUTURE WORK
7.1 Conclusion
74 7.2
Future Work 75
7.2.1 Missile Guidance
75 7.2.2
The Robots Heading Angle 76
7.2.3 Role Selection Philosophies
76 7.2.4
Others Further Enhancements 77
7.2.5 Research Fields
77
REFERENCES 78
APPENDIX A 79
APPENDIX B 80
APPENDIX C
80
APPENDIX D
81
APPENDIX E
82
APPENDIX F
83
LIST OF TABLE
NO TITLE
PAGE
2.2 3.2
Comparison Robot Specification
9 18
LIST OF FIGURE
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1.1 2.1a
2.1b 2.2
2.3 2.4.1
3.1a
3.1b 3.3.1
3.3.2a
3.3.2b 3.3.3
3.3.6
3.4.1a
3.4.1b 3.4.2a
3.4.2b 3.4.3
3.4.4
5.2a 5.2b
5.2c
5.2d Merlin Miabot Pro
Robot System Diagram of Robot System
Yujin Robot Soccer SimuroSot
Ball Position Maximum Size of a MiroSot Robot
Robot Soccer Arena Rear View
Miabot Machined Aluminum Body Shell
Internal View
Drive Chain Communication Board
Camera Camera Connection
Bluetooth Router Bluetooth Router Label
System Robot Arena
Catch Default Position
Goal Keeper Behavior Defender Behavior Kick
1 6
8 9
11 15
17 17
19 19
20 21
22 23
23 24
25 26
27 56
57 58
59
5.2e 5.2f
5.3a 5.3b
5.3.1a 5.3.1b
5.3.1c 5.3.1d
5.3.2a 5.3.2b
5.3.2c 5.3.2d
6.1.1 6.1.2a
6.1.2b 6.1.3
6.1.4a 6.1.4b
6.1.4c 6.1.5
6.1.6 7.2.1
7.2.2 Defender Behavior Clear
Striker Behavior Default Position in the Simulator
DLL File Directory Goal Keeper Position
Goal Keeper Follow Ball Goal Keeper at Wrong Position
Goal Keeper Return Back to Default Position Defender Follow Ball
Defender Kick out the Ball Defender Defense at the Lowest Position
Defender Kick out the Ball Color Patches
RGB Color Range of RGB Values
Camera System Color Balance
Adjusting the Channel Histogram
Color Tuning Detecting Robots
Misilie Guidance Robots Heading Angle
59 60
61 62
63 63
64 64
65 65
66 66
68 68
69 69
70 71
71 72
73 75
76
LIST OF SYMBOLS AND ABBREVIATIONS
EP – Evolutionary Programming
RF – Radio Frequency
CPU – Central Processing Unit
EEPROM – Electrical Erasable Programmable Read Only Memory
SPP – Supports Serial Port
CCD – Charge Coupled Device
RGB – Red Green Blue
LIST OF APPENDICES
NO TITLE
PAGE
A B
C D
E F
The FIRA MiroSot Middle League Playground 30 Rule
Free Kick Penalty Kick
Goal Kick Free Ball
79 80
80 81
82 83
CHAPTER I
INTRODUCTION
1.1 Introduction
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