Abstract—The purpose of this paper is to design and implement a Middle size soccer robot to conform RoboCup MSL league. Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. However, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviours with multi-sensor data fusion algorithm for global localization. Despite recent advances, effective control and self-localization methods of omni-directional mobile robots remain as important and challenging issues. For this purpose, we utilize the sensor data fusion method in the control system parameters, self localization and world modelling. Omnidirectional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and target tracking. The boundary-following algorithm (BFA) is applied to find the important features of the field. We utilize the sensor data fusion method in the control system parameters, self localization and world modeling. A vision-based self-localization and the conventional odometry systems are used for robust self-localization. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. In the control strategies, we present three state modes, which include the Attack Strategy, Defense Strategy and Intercept Strategy. The methods have been tested in the many Robocup competition fields of middle size robots. The methods have been tested in the many Robocup competition field middle size robots. Some new interesting methods are described in the current report.

Index Terms—Mobile robot, Machine vision, Omnidirectional movement, Autonomous Systems, Robot pathplanning, Object Localization.

The authors are with Young Researchers Club, Isfahan Branch, Islamic Azad University, Isfahan, Iran.

Cite: S. Hamidreza Mohades Kasaei and S.Mohammadreza Mohades Kasaei, "Design and Implementation an Autonomous Mobile Soccer Robot Based on Omnidirectional Mobility and Modularity," International Journal of Computer and Electrical Engineering vol. 3, no. 5, pp. 616-623, 2011.