Arvand: A Soccer Player Robot

Arvand is a robot specially designed and constructed for playing soccer according to RoboCup rules and regulations for the medium size robots. This robot consists of moving mechanism, motion control hardware, software and wireless communication system. The motion mechanism is based on a drive unit, a steer unit and a castor wheel. Motion control is carried out by a special control board which uses two microcontrollers to carry out the software system decisions and transfers them to the robot mechanics. The software system performs real-time object recognition with the rate of 16 frames per second. Playing algorithms are based on deterministic methods and communication among robots. We have constructed 4 such robots and successfully proved their performance in Robocup-99.