Simulation of Robot Soccer Game Kuang-Chyi Lee and Yong-Jia Huang Department of Automation...
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Transcript of Simulation of Robot Soccer Game Kuang-Chyi Lee and Yong-Jia Huang Department of Automation...
Simulation of Robot Soccer Game
Kuang-Chyi Lee and Yong-Jia Huang
Department of Automation Engineering National Formosa University
Outline
Introduction Simulation system Tasks of soccer robot Simulation Conclusions
Department of Automation Engineering, National Formosa University
Introduction
• OpenGL simulator – model of collision and friction
• fuzzy angular velocity strategy
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Department of Automation Engineering, National Formosa University
Simulation system
•Robot soccer simulator
•Models of collision
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Department of Automation Engineering, National Formosa University
Robot soccer simulator
1. OpenGL
2. Motion dynamics
3. Select strategy
Department of Automation Engineering, National Formosa University
Institute of Mechanical & Electro-Mechanical Engineering , National Formosa University
Start
Timer2
Timer1
Timer3
Goal?
Motion modeling
Strategy planning of
Robot soccer A
Strategy planning of
Robot soccer B
Score
Initialize
Yes
Yes
Yes
Yes
No
No
No
No
End the game?
end
Yes
No
Department of Automation Engineering, National Formosa University
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Models of collision
Friction coefficient Football dynamics Collision dynamics
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Department of Automation Engineering, National Formosa University
Friction coefficient
00.020.040.060.08
0.10.120.14
0 50 100 150 200 250 300 350 400
Velocity(cm/s)
Fric
tion
coef
fice
nt
0009.00002.02*710*53*910*2)( vvvv
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Football motion dynamics
Rolling without sliding Rolling and sliding
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Department of Automation Engineering, National Formosa University
Rolling without sliding
bV
gmb
r
rwVb
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Rolling and sliding
r
g
2
5
Return
gtvv 0
tr
gww
2
50
Department of Automation Engineering, National Formosa University
Collision dynamics
Robot and football Football and boundary Football and goal corner
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Department of Automation Engineering, National Formosa University
Robot and football
t
n
nbv )(
nRv
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tRtR vv )()( '
tbtb vv )()( '
bR
bb
bR
RbRnR mm
evm
mm
vemmv
)1()()( '
bR
RR
bR
bbRnb mm
evm
mm
vmemv
)1()(
)( '
Department of Automation Engineering, National Formosa University
Football and boundary
fN
n
t
tbv )(
nbv )(
sin)( btb VV
fVV btb sin)( '
cos)( bnb VV
Department of Automation Engineering, National Formosa University
cos)( 'bnb eVV
Return
Football and goal corner
score
continue
45
Return
45
Department of Automation Engineering, National Formosa University
bv
tn
xbv )(
ybv )(
Goal
Goal corner
Goal line
Tasks of soccer robot
Fuzzy control Deployment Ball finding Shooting Avoidance Goalkeeper
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Department of Automation Engineering, National Formosa University
Fuzzy control
Fuzzy system
Plante
e
eel GCGEVV
eer GCGEVV
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Error of angle
r
e
d
dx
dy
x
y
edr
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Membership functionNB NM Z PS PM
0
1 PBNS
LN MN Z MP LP
0
1
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Defuzzifier
)(
)(*
1
1
i
p
i
i
p
ii
y
yyU
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Attack
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Edge area
Edge area
Attack areaDefense area
Interception area
Return
Interception
Edge area
Edge area
Attack areaDefense area
Interception area
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Return
Defense
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Edge area
Edge area
Attack areaDefense area
Interception area
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Attack
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Ball position
Attack area
No obstacle
Obstacle
pp BR
pp BR
Find ball
Shoot
pp BR pp EB Find
ball
pp RE
pp BE
pp RB Pass
pp ER Avoid & find ball
pp RB
pp ER
Avoid &
shootpp RE
Shoot
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Interception
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Ball position
Free area
No obstacle
Obstacle
pp BR
pp BR
Find ball
Carry ball into attack
area
pp BR pp EB Find
ball
pp RE
pp BE
pp RB Find help point
pp ER Avoid & find ball
pp RB
pp ER
Avoid & find
holding
pp RE
Carry ball into attack
area
Return
Defense
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Ball position
Defense area
No obstacle
Obstacle
pp BR
pp BR
Find ball
Carry ball into defense
area
pp BR pp EB Find
ball
pp RE
pp BE
pp RB Find help point
pp ER Avoid & find ball
pp RB
pp ER
Avoid & find
holding
pp RE
Carry ball into defense
area
Return
Ball findingG(x,y)
B(x,y)
R1(x,y)
R2(x,y)
bmxyL :
22 1
m
bymxd
Return
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Shooting
1 main minor
↑ ↓ ↑ ↓ passing assist to attack
→ ↓ ↑ ↑ shooting rebounding point
↓ ↑ ↓ ↑ shooting rebounding point
12
31
1 2 3
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Return
Avoidance
Candidate point bmxyL :
22 1
m
bymxd
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Return
Candidate point
Goalkeeper
O點
P點
Oy-Py>0,robot up Oy-Py<0,robot down
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Simulation (Video)
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Department of Automation Engineering, National Formosa University
Conclusions
An OpenGL simulator for robot soccer game is implemented.
The model of collision friction are considered. A fuzzy angular velocity strategy is proposed.
Department of Automation Engineering, National Formosa University
Return
Thanks for your attention
Department of Automation Engineering, National Formosa University