The Faculty of Engineering and Science

This project, which was written at " Instituto Superior Técnico " (ISR) in Lisbon, Portugal, addresses the improvement of a goalkeeper for the " RoboCup Middle Size League ". The goalkeeper is one of four robots in the team at ISR. Each of the robots are controlled using a set of behaviours according to the role of each robot in the team. The set of behaviours and their relations is defined in a finite state machine. The first step of the project is to define such a state machine. The state machine enables the goalkeeper to track an arc in front of the goal and thereby minimize the exposed goal area. The state machine is partly implemented, and furthermore an algorithm to determine the position and orientation of the goalkeeper in the field is implemented. Since the group wasn't able to do tests playing against other teams, the state machine is simulated to determine parameters for the implementation. The simulations are developed using the freeware software CheckMate. The tests reveals that the implementation is working as expected. Preface This project is written by a project group from Aalborg University (AAU), Denmark during a stay at " Instituto de Sistemas e Robotica " (ISR) located at the Lisbon Campus of " Instituto Superior Técnico" (IST). The work was done under a Socrates grant from October 7 Ø Ø The project is written to satisfy the needs of two parties: The SocRob-group at ISR (specific technical details making future improvements easier) and the project supervisors at AAU (general, methodical aspects used for evaluation of the work). The project group wishes to offer their gratitude to the SocRob-group for all the help, suggestions and feedback , and to assistant professor Pedro Lima (ISR) and associated professor Thomas Bak (AAU) for arranging the contact making the stay possible. A CD is enclosed to this project and references to the files are done like this: [CD, Òdir].