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Title:

Simulation of Robot Soccer Game

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... Simulation Conclusions Introduction Simulation system Robot soccer simulator Models of collision Friction coefficient Football ... Defense Ball finding ... 43 PM ... – PowerPoint PPT presentation

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Title: Simulation of Robot Soccer Game


1
Simulation of Robot Soccer Game
  • Kuang-Chyi Lee and Yong-Jia Huang
  • Department of Automation Engineering National
    Formosa University

2
Outline
  • Introduction
  • Simulation system
  • Tasks of soccer robot
  • Simulation
  • Conclusions

3
Introduction
  • OpenGL simulator model of collision and
    friction
  • fuzzy angular velocity strategy

Return
4
Simulation system
  • Robot soccer simulator
  • Models of collision

Return
5
Robot soccer simulator
  1. OpenGL
  2. Motion dynamics
  3. Select strategy

6
(No Transcript)
7
Return
8
Models of collision
  • Friction coefficient
  • Football dynamics
  • Collision dynamics

Return
9
Friction coefficient
Return
10
Football motion dynamics
  • Rolling without sliding
  • Rolling and sliding

Return
11
Rolling without sliding
Return
12
Rolling and sliding
Return
13
Collision dynamics
  • Robot and football
  • Football and boundary
  • Football and goal corner

Return
14
Robot and football
Return
15
Football and boundary
Return
16
Football and goal corner
score
continue
Return
17
Tasks of soccer robot
  • Fuzzy control
  • Deployment
  • Ball finding
  • Shooting
  • Avoidance
  • Goalkeeper

Return
18
Fuzzy control
19
Error of angle
20
Membership function
21
Defuzzifier
Return
22
Attack
Return
23
Interception
Return
24
Defense
Return
25
Attack
Return
26
Interception
Return
27
Defense
Return
28
Ball finding
Return
29
Shooting
1 main minor
? ? ? ? passing assist to attack
? ? ? ? shooting rebounding point
? ? ? ? shooting rebounding point
Return
30
Avoidance
Candidate point
Candidate point
Return
31
Goalkeeper
  • Oy-Pygt0,robot up
  • Oy-Pylt0,robot down

Return
32
Simulation (Video)
Return
33
Conclusions
  • An OpenGL simulator for robot soccer game is
    implemented.
  • The model of collision friction are considered.
  • A fuzzy angular velocity strategy is proposed.

Return
34
Thanks for your attention
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