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Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents
Gen'ichi Yasuda
Department of Mechanical Engineering, Nagasaki Institute of Applied Science, 536 Aba-machi, Nagasaki 851-0193, Japan
Received:June 16, 1999Accepted:November 29, 1999Published:February 20, 2000
Keywords:robotic soccer, distributed microcontroller implementation, distributed motion control, robot agents
Abstract
We describe the concept and implementation of modular distributed control architecture for cooperative soccer-playing robot agents. Overall complete autonomous control for robotic soccer consists of the host and several onboard control systems. Onboard control for an autonomous mobile robot with intelligent sensors and actuators is constructed on microcontrollerbased flexible, extendable architecture whose microcontrollers are dedicated to low-level control for navigation based on multiaxis and multisensor cooperation. Operations of autonomous actuators are integrated through a serial-bus communication network. Distributed implementation reduces difficulties in complex hardware and software design of the control system. We evaluated basic control executed on microcontrollers. The host conducts high-level decision-making and cooperative action planning for robot agents. The implementation of basic skills and strategies for robotic soccer is discussed.
Cite this article as:G. Yasuda, “Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents,” J. Robot. Mechatron., Vol.12 No.1, pp. 29-34, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
