| Abstract: |
Arvand is a robot specially designed and constructed
for playing soccer according to RoboCup rules and regulations for the medium
size robots. This robot consists of three main parts: mechanics (motion
and kicker), hardware (image acquisition, processing and control unit) and
software (image processing, motion control and decision making). The motion
mechanism is based on a drive unit, a steer unit and a castor wheel. Robot
machine vision system uses a CCD camera and a frame grabber. Two microcontroller
based boards are specially designed for carrying out the software system
decisions and transferring them to the robot mechanics. The software system
can perform real time image processing and object recognition. It implements
algorithms for playing soccer. These algorithms are written in a high level
language "ArvandLan" specially designed for mobilizing these robots. By
changing the algorithms our robots can play as goal keeper, attacker or
defender. We have constructed 5 such robots and successfully tested them
in a soccer field defined according to RoboCup regulations. |