Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31442
Cooperative Multi Agent Soccer Robot Team

Authors: Vahid Rostami, Saeed Ebrahimijam, P.khajehpoor, P.Mirzaei, Mahdi Yousefiazar

Abstract:

This paper introduces our first efforts of developing a new team for RoboCup Middle Size Competition. In our robots we have applied omni directional based mobile system with omnidirectional vision system and fuzzy control algorithm to navigate robots. The control architecture of MRL middle-size robots is a three layered architecture, Planning, Sequencing, and Executing. It also uses Blackboard system to achieve coordination among agents. Moreover, the architecture should have minimum dependency on low level structure and have a uniform protocol to interact with real robot.

Keywords: Robocup, Soccer robots, Fuzzy controller, Multi agent.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1080440

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1285

References:


[1] C.C De wit.: Trends in Mobile Robot and Vehicle Control. Control Problems in Robotics and Automation. (1998) 151-175.
[2] S.L. Dickerson and B.D. Lapin.: Control of an Omni-Directional Robotic Vehicle with Mecanum Wheels. National Telesystems Conference Proceeding. (1991) 1:323-328.
[3] M.-J. Jung, H.-S. Kim, S. Kim, and J.-H. Kim.: Omni-Directional Mobile Base OK-II. Proceeding of the IEEE International Conference on Robotics and Automation.(2000) 4:3449-345.
[4] Y. Mori, E. Nakano, T. Takahashi, and K. Takayama.: Mechanism and Running Modes of New Omni-Directional Vehicle ODV9. JSME International Journal. (1999) Series C, 42(1): 210-217.
[5] Jong-Suk Choi and Byung Kook Kim, "Near minimum-time direct voltage control algorithms for wheeled mobile robots with current and voltage constraints," Robotica volume 19,pp. 29-39. 2001.
[6] D. Kim and S,Rhee , "Design of an Optimal Fuzzy Logic control using response surface methodology " , IEEE Trans. Fuzzy system,vol 9 , pp 413, JUNE 2001
[7] C.S Tesng, B.-S. Chen, and H.-J Uang , "Fuzzy Traking Control fo Nonlinear System via T-S Fuzzy Model " , IEEE Trans. Fuzzy sysrem,vol 9 , pp 381 , JUNE 2001
[8] Y. Yagi, S. Kawato, S. Tsuji, "Real-time omni-directional image sensor (COPIS) for visionguided navigation", IEEE Trans. on Robotics and Automation, Vol. 10, N. 1, pp. 11- 22, 1994
[9] P. Lima, A. Bonarini, C. Machado, F. M. Marchese, C. Marques, F. Ribeiro, D. G. Sorrenti, "Omni-Directional Catadioptric Vision for Soccer Robots", Special Issue of the Robotics and Autonomous Systems Journal, Elsevier, Amesterdam, Vol 36, nÂș 2, 31st Augout 2001. 12. A. Bonarini, P. Aliverti, M. Lucioni, "An omnidirectional sensor for fast tracking for mobile robots", Proc. of the 1999 IEEE Instrumentation and Measurement Technology Conference (IMTC99), IEEE Computer Press, Piscataway, NJ, pp. 151-157
[10] Fabio M. Marchese, Domenico G. Sorrenti, "Omni-directional vision with a multi-part mirror", Workshop on EuRoboCup-2000, Amsterdam, Netherlands, 28th May - 2nd June, proceedings on CD-Rom, Springer.
[11] MRL TDP ROBOCUP 2005 Osaka for middle size soccer robot .
[12] R. Peter Bonnaso and David Kortenkamp, "An Intelligent agent architecture in hich to pursue robot learning". In proceedings of the MLC_COLT' 94 Robot Learning Workshop, 1994
[13] Patrick Riley, SPADES system for Parallel Agent Discrete Event Simulation User's Guide and Reference Manual for Version 0.91, December 7, 2003. Accessible from http://spades-sim.sourceforge.net