| Abstract: |
Our robot perceives environment with a single CCD camera,
and it moves that two motors controlled independently. All robots are ``complete
autonomous''. Therefore, we do not use a host computer. The robot has a
Note PC for ``image processing'' , ``object recognition'' and ``select an
action.'' In ``image processing'' and ``object recognition'' program, it
is easy setting with GUI to correspond to a change of environment that extracts
color of objects and establish a threshold. ``Select an action'' is applying
reinforcement learning(see section ``Reinforcement learning''). The robot
has the circuit board to control the motor. This board was connected to
the parallel port in the Note PC. It is composed of a motor control unit
and an interface unit by CPLD (Complex Programmable Logic Device). The personal
computer can control right and left motors independently by this board in
five states each backward and forward. A specific role such as Goal-keeper,
Defender and Attacker is given to each robot, because the robot is completely
autonomy. The robot works cooperatively by the allotment of the role like
this. |