1. Simulation of Robot Soccer Game Kuang-Chyi Lee and Yong-Jia Huang Department of Automation Engineering National Formosa University

2. Outline Introduction Simulation system Tasks of soccer robot Simulation Conclusions Department of Automation Engineering, National Formosa University

3. Introduction OpenGL simulator – model of collision and friction fuzzy angular velocity strategy Return Department of Automation Engineering, National Formosa University

4. Simulation system Robot soccer simulator Models of collision Return Department of Automation Engineering, National Formosa University

5. Robot soccer simulator 1.OpenGL 2.Motion dynamics 3.Select strategy Department of Automation Engineering, National Formosa University

6. Institute of Mechanical & Electro-Mechanical Engineering, National Formosa University

7. Department of Automation Engineering, National Formosa University Return

8. Models of collision Friction coefficient Football dynamics Collision dynamics Return Department of Automation Engineering, National Formosa University

9. Friction coefficient Return Department of Automation Engineering, National Formosa University

10. Football motion dynamics Rolling without sliding Rolling and sliding Return Department of Automation Engineering, National Formosa University

11. Rolling without sliding Return Department of Automation Engineering, National Formosa University

12. Rolling and sliding Return Department of Automation Engineering, National Formosa University

13. Collision dynamics Robot and football Football and boundary Football and goal corner Return Department of Automation Engineering, National Formosa University

14. Robot and football Return Department of Automation Engineering, National Formosa University

15. Football and boundary Department of Automation Engineering, National Formosa University Return

16. Football and goal corner score continue Return Department of Automation Engineering, National Formosa University

17. Tasks of soccer robot Fuzzy control Deployment Ball finding Ball finding Shooting Avoidance Goalkeeper Return Department of Automation Engineering, National Formosa University

18. Fuzzy control Department of Automation Engineering, National Formosa University

19. Error of angle Department of Automation Engineering, National Formosa University

20. Membership function Department of Automation Engineering, National Formosa University

21. Defuzzifier Return Department of Automation Engineering, National Formosa University

22. Attack Department of Automation Engineering, National Formosa University Return

23. Interception Department of Automation Engineering, National Formosa University Return

24. Defense Department of Automation Engineering, National Formosa University Return

25. Attack Department of Automation Engineering, National Formosa University Return

26. Interception Department of Automation Engineering, National Formosa University Return

27. Defense Department of Automation Engineering, National Formosa University Return

28. Ball finding Return Department of Automation Engineering, National Formosa University

29. Shooting 1 main minor ↑↓↑↓ passingassist to attack →↓↑↑ shootingrebounding point ↓↑↓↑ shootingrebounding point Department of Automation Engineering, National Formosa University Return

30. Avoidance Candidate point Department of Automation Engineering, National Formosa University Return Candidate point

31. Goalkeeper Oy-Py>0,robot up Oy-Py<0,robot down Department of Automation Engineering, National Formosa University Return

32. Simulation (Video) Return Department of Automation Engineering, National Formosa University

33. Conclusions An OpenGL simulator for robot soccer game is implemented. The model of collision friction are considered. A fuzzy angular velocity strategy is proposed. Department of Automation Engineering, National Formosa University Return

34. Thanks for your attention Department of Automation Engineering, National Formosa University