EMMA – Architecture and Subsystems of a Mobile Autonomous Robot with a Preference for Soccer
نویسندگان
چکیده
In this paper we present the current stage of development of EMMA, a small autonomous robot inspired by the Khepera robot widely distributed in the scientific community. EMMA features a modern microcontroller as the central processing unit (CPU) being very efficient in processing sensor and motor signals and a black–white camera as the main sensory system. The test application of EMMA is autonomous robot soccer, where two robots play against each other in a specified environment without any connection to an external control computer. The control program in this application is based on a fuzzy rule base generating the motor signals according to the information provided by an on–line object recognition analyzing the camera image. We also briefly present a number of software tools being currently developed for EMMA, and conclude with plans for future enhancements to the embedded mobile agent. Key–Words: Mobile Autonomous Robots, Robot Architecture, Evolutionary Robotics, Robot Soccer, Fuzzy Controller
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