Development of soccer robot using vision and potential field technique | |
| Author | Shrestha, Prashanta Man |
| Call Number | AIT Thesis no.ISE-07-28 |
| Subject(s) | Robots--Control systems Robotics |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-28 |
| Abstract | Robot soccer has become a popular bench mark to test different aspects of engineering designs. The basic objective of robot soccer is to design a team of robots that can score goals against the opposing team, while avoiding opponent robots as well as defending incoming attacks. The entire soccer robot system comprise of different aspects of hardware and software design. The overhead camera provides an aerial view of the action taking place on the field. A color vision processing algorithm processes the images from the camera. The vision process is responsible for extracting information about robots and ball on the field. The process locates and recognizes the objects on the field and presents their location in some real world coordinate frame. This paper tries to address some of the steps involved in color image processing for soccer robot application. The information from vision processing is used to decide future location and action of team robots. Path planning method for the mobile robot is described next in the paper. Collision free path is generated using the concept of interaction of attractive and repulsive vector fields due to goal and obstacle respectively. The four wheeled omni-directional robot was designed. The design and fabrication of mechanical and electrical components necessary for the robot platform will also be discussed in this paper |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-28 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Dailey, Matthew; |
| Scholarship Donor(s) | High Level Commission for Information Technology (HLCIT), Nepal;Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |