https://scholars.lib.ntu.edu.tw/handle/123456789/625387
標題: | Construction and soccer dynamics analysis for an integrated multi-agent soccer robot system | 作者: | HAN-PANG HUANG Liang C.-C Lin C.-W. |
關鍵字: | Centralized coordination control; Multi-agent robot; Pattern recognition; Vision servoing | 公開日期: | 2001 | 卷: | 25 | 期: | 2 | 起(迄)頁: | 84-93 | 來源出版物: | Proceedings of the National Science Council, Republic of China, Part A: Physical Science and Engineering | 摘要: | An integrated multi-agent robot system (NTU-Formosa) for robot soccer games was built in this study. The system consists of multiple mobile robots, a vision system, a wireless communication system, and a host computer. The multiple robots can be cooperatively controlled as they play a robot soccer game in an unknown and dynamic environment. The development of the system involved mechanism design and manufacture, integration of the electromechanical system, vision servoing, pattern recognition, decision-making, wireless communication, motion control, and centralized coordination control. The developed system has satisfactory performance in terms of compactness, stability, robustness, and mobility. To better understand the behaviors of the ball and robots in a robot soccer game, the free motion dynamics of the robots and ball and the collision dynamics among them were derived and analyzed in this study. To coordinate the multiple robots well, a flexible strategy-based decision-making system is proposed to perform centralized control. An experiment was conducted to examine the performance of NTU-Formosa, and the results obtained are satisfactory. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-0035271632&partnerID=40&md5=f1ddfed45b05e792cd4b7d9af5eaffb1 https://scholars.lib.ntu.edu.tw/handle/123456789/625387 |
ISSN: | 02556588 | SDG/關鍵字: | Decision making; Electromechanical devices; Mobile robots; Motion control; Pattern recognition; Robustness (control systems); Stability; Wireless communication systems; Robotics; robot |
顯示於: | 機械工程學系 |
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