Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents | Zendy

Gen’ichi Yasuda | Zendy

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Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents

Author(s) -

Gen’ichi Yasuda

Publication year - 2000

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2000.p0029

Subject(s) - modular design , robot , embedded system , computer science , microcontroller , mobile robot , control (management) , robot control , actuator , host (biology) , control engineering , architecture , engineering , artificial intelligence , operating system , art , visual arts , ecology , biology

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.

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