• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.2-59
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• 2001

This paper presents an evolvable cooperation strategy based on a genetic programming for the interactive robot soccer game. The interactive robot soccer game has been developed to allow a person to join in the game dynamically and to reinforce entertainment characteristics. In this game, a cooperation strategy between humans and autonomous robots is very important in order to make the game more enjoyable. First of all, necessary action sets for the cooperation strategy and its strategy structure are presented. In the first stage, a blocking action that an autonomous robot cut off an enemy robot from disturbing the way of the human controlled robot has been considered. The success probability of the blocking action has beer obtained in ...

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1130-1138
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• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1105-1108
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• 2003

The micro robot soccer playing system is introduced. Studying and learning, evolving in artificial agents are very difficult problem, but on the other hand we think more powerfully challenging task. In our laboratory, this soccer-system studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.648-651
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• 1997

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.

• 한국지능시스템학회논문지
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• 제12권3호
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• pp.275-281
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• 2002

본 논문에서는 축구 로봇의 원하는 속도와 이동 패턴을 만들어 내기 위하여 속도 제어에 크게 영향을 미치는 거리 오차와 각도 오타 등의 반영 비율을 나타내는 각종 파라미터가 포함된 속도 제어 함수를 제안하고, 이들 파라미터들을 유전자 알고리즘을 이용하여 최적의 값들을 탐색함으로써 변화된 환경 속에서도 로봇을 목적에 따라 신속하게 이동하게 하는 속도 제어 전략을 제안한다.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.222-228
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• 2003

A tool which can be used for the analysis of a robot soccer game is presented. The tool enables automatic filtering and selection of game sequences which are suitable for the analysis of the game. Fuzzy logic is used since the data gathered by a camera is highly noisy. The data used in the paper was recorded during the game Germany - Slovenia in Hagen, on November 11, 2001. The dynamic parameters of our robots are estimated using the least squares technique. Meandering parameters are estimated and an attempt is made to identify the strategy of the opposing team with the method of introspection.

• 한국정밀공학회지
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• 제19권9호
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• pp.142-150
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• 2002

This study describes a method of finding an optimal path of a soccer robot by using a concentric circle method with different radii of rotation. Comparing with conventional algorithms which try to find the shortest path length, the variable concentric circle method find the shortest moving time. The radius fur the shortest moving time for a given ball location depends on the relative location between a shooting robot and a ball. Practically it is difficult to find an analytical solution due to many unknowns. Assuming a radius of rotation within a possible range, total path moving time can be calculated by adding the times needed for straight path and circular path. Among these times the shortest time is obtained. In this paper, a graphical solution is presented such that the game ground is divided into 3 regions with a minimum, medium, and maximum radius of rotation.

• 한국지능시스템학회논문지
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• 제13권5호
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• pp.590-595
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• 2003

본 논문에서는 mGA를 이용해 축구로봇의 속도를 제어하는 새로운 기법을 제안하였다 축구 로봇의 목표를 최소 시간 내에 도착하기 위해 속도제어에 크게 영향을 미치는 거리 오차와 각도 오차 등의 비율을 나타내는 각종 파라미터가 포함되어 있는 제어 함수를 제안하였다. 이들 파라미터들을 mGA을 이용하여 최적의 값들을 탐색함으로써 변화되는 환경 속에서도 로봇의 목적지에 최소 시간 내에 이동하도록 속도제어 전략을 제안한다.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권1호
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• pp.32-39
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• 2004

The color-based vision systems have been used to recognize our team robots, the opponent team robots and a ball in the robot soccer system. The color-based vision systems have the difficulty in that they are very sensitive to color variations brought by brightness changes. In this paper, a neural network trained with data obtained from various illumination conditions is used to classify colors in the modified YUV color space for the robot soccer vision system. For this, a new method to measure brightness is proposed by use of a color card. After the neural network is constructed, a look-up-table is generated to replace the neural network in order to reduce the computation time. Experimental results show that the proposed color classification method is robust under illumination variations.

• 한국지능시스템학회논문지
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• 제12권4호
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• pp.289-293
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• 2002

분류자 시스템(Classifier System)은 유전자 알고리즘(Genetic Algorithmsm : GA)을 이용하여 새로운 규칙 집합을 발견하는 시스템이다 또 로봇 축구 시뮬레이션 게 (SimuroSot)은 시간에 따라 상태가 변화하는 동적인 시스템이다. 본 논문에서는 GBML(Genetic Based Machine Learning)의 한 갈래이자 미시간 접근 방법을 기반으로 하는 Zeroth Level Classifier System(ZCS)을 SimuroSot에 적용하여 게임 전략을 구성하는 새로운 규칙을 발견하고 학습하도록 하고 시뮬레이션 결과를 분석함으로써 ZCS의 유용성을 확인한다.