"5dpo Robotic Soccer Team for Year 2004"

Abstract

The design of a Robotic soccer Team is an evolving process wherethe weaknesses and strengths of previous years drive the new enhancements.Also, the inevitable rule changes take an important role on design. The 5dpoteam kept last year omni-directional robots. The robots have a controlled forceElectromagnetic passing/kicking mechanism. The vision system is Linux basedand uses two Firewire cameras to achieve better resolution and reduce systemlag. This setup eliminates previous issues of control degradations caused bynon-synchronisation of frames and noisy images. Team strategy is based on ahierarchical three level state machine. A dynamics prediction layer, based on aKalman Filter, uses the ball and robots dynamics to predict the state at the timewhen the low level commands are executed thus improving the teamperformance.