Designing Vision Based Autonomous Docile-X Mobile Robot for Real-time Application to Soccer Behaviors

This paper aims at developing a real-time, robust, and reliable behaviors for an omnidirectional soccer robot, can be used in crowded dynamically-changing environments. The soccer robot system consists of highly coordinated operations and movements so as to fulfill specific objectives, even under unfavorable situations. The associated issues are position control, velocity control and sensing information in addition to the need for imitating the human-like decision. The proposed method considers not only the kinematics of the robot but also its dynamics. Moreover, a control structure is designed and several behaviors for a soccer robot are proposed. Image processing, recognition and target following algorithm are illustrated through experiments.