Omni-Directional Vision-BasedControl Strategy for
Chia-Ling Hsu, Ming-Feng Lu, Chunyang Hu · 2007
The humanoidsoccer robotsystemcan be considered asavisualfeedback systemthat includes thedesign and implementation ofthehardware architecture, visual servosystem, control strategy systemandsensorysystemThis paper ismainly to integrate thetwomajorpartsofthehumanoid soccerrobot, the visual systemandcontrol strategy system. Atfirst, thearchitecture oftheomni-directional vision systemissetup. Theadvanced label algorithm (ALA)isthenemployed forobject recognition inthe vision processing systemThe corresponding offending and defending control strategies are developed. Two special data transformation mechanisms are alsoexamined. Finally the experiments ofthehumanoid soccerrobot areperformed toverify thebenefit andthefeasibility oftheproposed control strategies.