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The paper presents a mobile control system based on color image recognition for five-on-five robot soccer competition. In the robot soccer system, the mobility of each robot is considered in chief. Decreasing the unnecessary functions in its mechanism, the weight and the volume of the robot would be reduced as possible. It avoids the unstable movement phenomenon which is usually taken place in the robot soccer competition. Since the shooting mechanism is ignored in the study, it results in the reduction of the attack power of striker. Fortunately, a control strategy of "dual direction movement" is proposed in this study. It not only raises the robotic mobility but also recovers its attack power. Besides, in order to improve the accuracy of the image processing, an effective calibration procedure of "fish-eye" phenomenon and immediate color discrimination are applied in the system design. Summarily, the actions of robots consist of five modes which are shooting, sweeping, collision-free, coordination defense and dual direction movement. From the results of five-on-five robot soccer competition, it is seen that these designs proposed in this paper really increase the competitiveness of the robots.