Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design and Experimental Evaluation of Action Level in a Hybrid Control Structure for Vision Based Soccer Robot

비젼기반 축구로봇시스템을 위한 복합제어구조에서 행위계층설계 및 시험적 평가

  • 심현식 (LG교통정보연구원) ;
  • 성윤경 (한국원자력연구소 로봇연구실) ;
  • 김종환 (한국과학기술원 전기 및 전자공학과)
  • Published : 2000.02.01
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Abstract

A hybrid control structure for vision-based soccer robot system is considered. The structure is om-posed of four levels such as the role action behavior and execution levels. The control structure which is a combination of hierarchical and behavioral structures can efficiently meet the behavior and design specifications of a soccer robot system Among the four levels only the design of the action level is proposed in the paper and is experimentally evaluated. Design hypothesis and evaluation method are presented to improve the reliability and accomplishment of the robot system. Due to the essential element of soccer robot system design a systematic design procedure of the action level is proposed With the proposed structure and algorithm of the action level the excellent result was shown at the MiroSot'98 held in France.

Keywords

References

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