Simulation of Robot Soccer Game Kuang-Chyi Lee and Yong-Jia Huang Department of Automation Engineering National Formosa University

Simulation of Robot Soccer Game

Kuang-Chyi Lee and Yong-Jia Huang

Department of Automation Engineering National Formosa University

Outline

Introduction Simulation system Tasks of soccer robot Simulation Conclusions

Department of Automation Engineering, National Formosa University

Introduction

• OpenGL simulator – model of collision and friction

• fuzzy angular velocity strategy

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Simulation system

•Robot soccer simulator

•Models of collision

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Robot soccer simulator

1. OpenGL

2. Motion dynamics

3. Select strategy


Institute of Mechanical & Electro-Mechanical Engineering , National Formosa University

Start

Timer2

Timer1

Timer3

Goal?

Motion modeling

Strategy planning of

Robot soccer A

Strategy planning of

Robot soccer B

Score

Initialize

Yes

Yes

Yes

Yes

No

No

No

No

End the game?

end

Yes

No


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Models of collision

Friction coefficient Football dynamics Collision dynamics

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Friction coefficient

00.020.040.060.08

0.10.120.14

0 50 100 150 200 250 300 350 400

Velocity(cm/s)

Fric

tion

coef

fice

nt

0009.00002.02*710*53*910*2)( vvvv

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Football motion dynamics

Rolling without sliding Rolling and sliding

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Rolling without sliding

bV

gmb

r

rwVb

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Rolling and sliding

r

g

2

5

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gtvv 0

tr

gww

2

50


Collision dynamics

Robot and football Football and boundary Football and goal corner

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Robot and football

t

n

nbv )(

nRv

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tRtR vv )()( '

tbtb vv )()( '

bR

bb

bR

RbRnR mm

evm

mm

vemmv

)1()()( '

bR

RR

bR

bbRnb mm

evm

mm

vmemv

)1()(

)( '


Football and boundary

fN

n

t

tbv )(

nbv )(

sin)( btb VV

fVV btb sin)( '

cos)( bnb VV


cos)( 'bnb eVV

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Football and goal corner

score

continue

45

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45


bv

tn

xbv )(

ybv )(

Goal

Goal corner

Goal line

Tasks of soccer robot

Fuzzy control Deployment Ball finding Shooting Avoidance Goalkeeper

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Fuzzy control

Fuzzy system

Plante

e

eel GCGEVV

eer GCGEVV


Error of angle

r

e

d

dx

dy

x

y

edr


Membership functionNB NM Z PS PM

0

1 PBNS

LN MN Z MP LP

0

1


Defuzzifier

)(

)(*

1

1

i

p

i

i

p

ii

y

yyU

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Attack


Edge area

Edge area

Attack areaDefense area

Interception area

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Interception

Edge area

Edge area


Interception area


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Defense


Edge area

Edge area


Interception area

Return

Attack


Ball position

Attack area

No obstacle

Obstacle

pp BR

pp BR

Find ball

Shoot

pp BR pp EB Find

ball

pp RE

pp BE

pp RB Pass

pp ER Avoid & find ball

pp RB

pp ER

Avoid &

shootpp RE

Shoot

Return

Interception


Ball position

Free area

No obstacle

Obstacle

pp BR

pp BR

Find ball

Carry ball into attack

area

pp BR pp EB Find

ball

pp RE

pp BE

pp RB Find help point


pp RB

pp ER

Avoid & find

holding

pp RE

Carry ball into attack

area

Return

Defense


Ball position

Defense area

No obstacle

Obstacle

pp BR

pp BR

Find ball

Carry ball into defense

area

pp BR pp EB Find

ball

pp RE

pp BE

pp RB Find help point


pp RB

pp ER

Avoid & find

holding

pp RE

Carry ball into defense

area

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Ball findingG(x,y)

B(x,y)

R1(x,y)

R2(x,y)

bmxyL :

22 1

m

bymxd

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Shooting

1 main minor

↑ ↓ ↑ ↓ passing assist to attack

→ ↓ ↑ ↑ shooting rebounding point

↓ ↑ ↓ ↑ shooting rebounding point

12

31

1 2 3


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Avoidance

Candidate point bmxyL :

22 1

m

bymxd


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Candidate point

Goalkeeper

O點

P點

Oy-Py>0,robot up Oy-Py<0,robot down


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Simulation (Video)

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Conclusions

An OpenGL simulator for robot soccer game is implemented.

The model of collision friction are considered. A fuzzy angular velocity strategy is proposed.


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Thanks for your attention


Documents

Simulation of Robot Soccer Game Kuang-Chyi Lee and Yong-Jia Huang Department of Automation Engineering National Formosa University