Development of RoboSot Category Robot Soccer Team

In this paper, preliminary results from research for building a RoboSot category robot soccer team are reported. In the RoboSot category, no central station or over-head camera is allowed. Therefore several issues such as sensors, mechanisms and CPU boards must be taken into consideration before building an autonomous and intelligent system for this category. Each robot must have appropriate sensors and must be able to communicate with other robots to have timely information concerning the ball and robot position in the eld. Computing power also becomes an important factor in implementing intelligence and autonomy onboard. Such issues are also discussed. Then the RoboSot team (OmniKity-III system) is introduced by describing the robot's hardware structure and a localization scheme. Each robot has a Pentium-II single board computer, an Ethernet card, an USB camera and an omni-directional mobile mechanism. By detecting color or edges, the robot can localize itself and the ball position. Motion control using Fuzzy logic and arti cial neural networks is also described.