Design and Construction of a Soccer Player Robot ARVAND

Arvand is a robot specially designed and constructed for playing soccer according to RoboCup rules and regulations for the medium size robots. This robot consists of three main parts: mechanics घmotion mechanism and kickerङ, hardware घimage acquisition, processing unit and control unitङ and software घimage processing, wireless communication, motion control and decision makingङ. The motion mechanism is based on a drive unit, a steer unit and a castor wheel. We designed a special control board which uses two microcontrollers to carry out the software system decisions and transfers them to the robot mechanics. The software system written in C++ performs real time image processing and object recognition. Playing algorithms are based on deterministic methods. We have constructed 4 such robots and successfully tested them in a soccer æeld according to RoboCup regulations for middle size robots.

• Type: Conference
• Year: 1999
• Where: ROBOCUP
• Authors: Mansour Jamzad, Amirali Foroughnassiraei, Ehsan Chiniforooshan, Reza Ghorbani, Moslem Kazemi, Hamid Reza Chitsaz, Farid Mobasser, Sayyed Bashir Sadjad
• Keywords: Medium Size Robots, ROBOCUP 1999, Robotics, Robots, Size Robots