Bill's Thesis: A Robot Soccer System
for Research & Education
I'd like to thank both the
Intelligent Systems Center and the Smart Engineering Systems Labratory for
funding and materials used in my research.
The source files conatined here are the final product and can be used by other researchers. Please contact me if you have any problems, questions, or comments concerning my work.
The system presented here is intended to provide a reasonable set of tools for developing a simple robot soccer system for research and educational purposes. The system presented conforms to the small-size (F-180) league of RoboCup. This system is developed around Khepera micro-robots and utilizes an overhead vision system and remote communication with the robots. It comes with example source code for interfacing the overhead vision system (which typically runs on a low-cost Linux workstation) and the Khepera robots via radio communication. All components can be controlled from Matlab to facilitate rapid prototyping or from more conventional languages such as C and C++.
The components of the system may also be used individually in order to quickly develop an initial visual system for use with other robots or to provide a different means of communications and control for the Khepera robots for Non-RoboSoccer research.
A simple demonstration of the system in use. In this case a Khepera is
running the simplistic kicker program (blue path) and has kicked the ball
(red path) toward the goal. A goalee, running the simplistic goalee program has intercepted the
kick (yellow path).