Konferensartikel

Patriarcas/MINHO Football Team

Antonio Ribeiro
Universidade do Minho, Portugal

Carlos Machado
Universidade do Minho, Portugal

Ilidio Costa
Universidade do Minho, Portugal

Sergio Sampaio
Universidade do Minho, Portugal

Ladda ner artikelhttp://www.ep.liu.se/ecp_article/index.en.aspx?issue=003;article=028

Ingår i: RobocCup-99 Team Descriptions. Small and Middle Leagues

Linköping Electronic Conference Proceedings 3:28, s. 175-180

Linköping Electronic Articles in Computer and Information Science 6:28, s. 175-180

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Publicerad: 1999-12-05

ISBN:

ISSN: 1650-3686 (tryckt), 1650-3740 (online)

Abstract

Autonomous mobile robots are ever increasing their number of different applications; even in ludic application or in sports. In the last few years; several competitions of football have been organised with lots of teams participating. This paper describes an Autonomous Mobile Robot which plays football and it was developed at the Industrial Electronics Engineering department of the University of Minho in Guimarães; Portugal. Each team is free to solve on his own way all the different electronics; sensory systems; playing algorithms; etc. as far as they cope with the rules imposed by the organisation. Instead of using several different sensors increasing electronics complexity; it was decided to use only one major sensor namely a vision system with the use of a colour camera. All the image processing algorithms were developed from scratch and are hereby described. This vision system uses an innovative approach. In order to see the whole field; a convex mirror was placed on the top of the robot looking downwards with the video camera looking upwards towards the mirror. This way; the robot can see both goals; the ball and other robots; almost all the time; as well as having a top view.

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Referenser

[1] Bicho; Estela and Schoner; Gregor: The dynamic approach to autonomous robotics demonstrated on a low-level vehicle platform. Robotics and Automation systems 21(1997); pages 23-25.

[2] Bicho; Estela and Schoner; Gregor: Target position estimation; target aquisition and obstacle avoidance. International Symposium on Industrial Electronics’97; 97TH8280; 3-7 July 1997; Guimaraes; Portugal; pages SS13- SS20.

[3] Bicho; Estela: Target representation for phototaxis. September 1997; Institut für Neuroinformatik; ruhr-universitat-Bochum; Germany.

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