全域視覺足球機器人系統整合發展及實現

全域視覺足球機器人系統的發展及實現必須要結合跨領域的各種技術。本篇論文主要著重於其中三個部分：彩色物件之識別和追蹤，雙輪驅動機器人之控制和多重機器人之合作。全域視覺模組需要監控整個球場的情勢，進而萃取出有意義之資訊提供策略決策機制規劃球隊策略。這些訊息的可靠度及準確性將左右戰術規劃的效率。在以色彩為基礎之影像分析辨識系統中，強韌的色彩分類扮演了極為重要的角色。適當的顏色分類大幅降低計算所需的時間，透過忽略無關緊要的背景資料，影像處理的可靠度將大大地提升。本文所發展的視覺系統採用主成分分析法 (PCA) 尋找適合色彩分類的空間，並且建立色彩分類之模型。根據此模型，色彩的分類對於光線條件稍微地差異具有一定的強韌性。按照影像模組所擷取出來的資訊，決策機制評估球場上的狀態，進而規劃畫多重機器人合作之策略。策略實行的成效決定於是否適當地分配球場上各球員扮演之角色。一個由下而上的策略產生機制，顯著地簡化策略規劃的過程，尤其是為劇烈改變的動態環境建立有效的策略。雙輪驅動機器人的動作控制則採用動態迴授線性化控制。此控制方法足以應付足球比賽中，機器人運球及得分的各種動作。本文完整地整合、發展並實現全域視覺足球機器人系統。本系統已贏得2004台灣全國賽的第一名，並且將參加2005 FIRA RoboWorld Cup比賽。

關鍵字

全域視覺；色彩分類；足球機器人

並列摘要

Wide range of technologies are integrated, developed and implemented in the global vision soccer robot system. This thesis is involved in three of them: Color object recognition and tracking, wheeled mobile robot control, and multi-agent collaboration. The task of global vision module is to extract meaningful data for strategy decision module. These data are reliable and accurate for efficient tactics planning. Robust color classification plays a dramatic role for color-based image analysis. In addition, appropriate color classification reduces computational time and improves reliability by eliminating uninterested background information. Principal Component Analysis (PCA) is adopted to seek for a color space in which a color classification model is constructed straightforward. According to this model, slight color variation is robustly classified. Based on extracted data, the decision-making module estimates the field condition, and then plans strategies to collaborate agents. Role assignment enormously affects the efficiency of plan achievement. A bottom-up strategy generation mechanism simplifies the procedure to create strategies for highly dynamical environment. Dynamic feedback linearization control is adopted for the mobile robot’s motion control. The performance is good enough for robot to dribble the ball and score goal. The entire system has been completely implemented, and won the first place of 2004 National Competition of Soccer Robots.

並列關鍵字

Global vision ； Color classification ； Soccer robot

參考文獻

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全域視覺足球機器人系統整合發展及實現

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