A NEW CONTROL FRAMEWORK FOR ROBOT SOCCER SYSTEM

This paper presents a new control framework for robotic soccer system which consists of a group of 11 micro-robots, external vision system, ultrasonic GPS sensor network, RF communication modules, and main computer to perform a distributed sensing and control for successful soccer game in X-large league Mirosot of FIRA[11]. In the proposed control framework, even though the single CCD camera covers limited area of workspace and each GPS sensor has limited capability with a simple signal-processing engine, combined usage of the two kinds of sensors makes it possible to perform a large task through coordinated information sharing and wireless communication covering a large working area. Using the capability of self-localization and tracking with the sensor network, we show the proposed control framework can be applied to a large scale robot soccer system in which a large number of robots have to be coordinated effectively in real time.