Rac Robotic Soccer Small-size Team: Control Architecture and Global Vision
نویسندگان
چکیده
The main goal of the RAC project is to develop a robotic soccer team for participating in the RoboCup’s small-size league competitions. This paper is focused on two main issues: distributed control of a team of robotic soccer robots; and computer vision for tracking and localization. A distributed control architecture tailored for robotic soccer is presented, which aims at fostering cooperation in the absence of centralized control. It is also described a global vision system based on two overhead cameras and color segmentation, which provides the RAC team with real-time information about the game.
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