Development of a vision system and a strategy simulator for middle size soccer robot

This paper proposed a vision system that enables the wheel-robot could self-localization and navigation, and a strategy simulator software for robot soccer competition. The vision system is based on an omnidirectional camera to develop real-time image capture, doors and ball recognition software. It is a framework for visual self-localization of a mobile robot using a parametric model obtained from panoramic images of the competition environment. The strategy simulator is to simulate the robot behavior, such as the keeper, attacker and ball following further to apply to the real robot. Moreover, our experiments show that the vision system is fast and efficient for robot soccer competition, and the simulator is useful for developing strategies.