Abstract—The purpose of this paper is to design and implement a Middle size soccer robot to conform RoboCup MSL league. In this paper we want to describe computational concepts of cognition that were successfully implemented in the domain of soccer playing robots and show the interactions between cognitive concepts, software engineering and real-time application development. Beside a description of the general concepts we will focus on aspects of Mechanical platform, Motion control module, Omni-directional vision module, Front vision module, Image processing and recognition module, Investigated target object positioning and real coordinate reconstruction, Robot path planning, Competition strategies, and Obstacle avoidance. The methods have been tested in the many Robocup competition field middle size robots.
Index Terms—Mobile robot, Machine vision, Omnidirectional movement, Autonomous Systems, Robot pathplanning, Object Localization.
S. H. Kasaei is with the Young Researchers Club of Khorasgan Islamic Azad University (Isfahan), Iran. (Phone: +98 9133048469 e-mail: Hamidreza_Kasaee@Yahoo.com, Web page: http:// www.IranAdro.com ).
S. M. Kasaei is with the Young Researchers Club of Khorasgan Islamic Azad University (Isfahan), Iran. (Phone: +98 91312624512 e-mail:Mrezamk2005 @Yahoo.com, Web page: http:// www.IranAdro.com).
Cite: S. Hamidreza Kasaei, S. Mohammadreza Kasaei and S. Alireza Kasaei, "Design a Modular Architecture for Autonomous Soccer Robot Based on Omnidirectional Mobility with Distributed Behavior Control," International
Journal of Engineering and Technology vol. 2, no. 6, pp. 508-513, 2010.