Development of local perception-based behaviors for a robotic soccer player

Abstract

This paper describes the development of local vision-based behaviors for the robotic soccer domain. The behaviors, which include finding ball, approaching ball, finding goal, approaching goal, shooting and avoiding, have been designed and implemented using a hierarchical control system. The avoiding behavior was learned using the C4.5 rule induction algorithm, the rest of the behaviors were programmed by hand. The object detection system is able to detect the objects of interest at a frame rate of 17 images per second. We compare three pixel classification techniques; one technique is based on color thresholds, another is based on logical AND operations and the last one is based on the artificial life paradigm. Experimental results obtained with a Pioneer 2-DX robot equipped with a single camera, playing on an enclosed soccer field with forward role indicate that the robot operates successfully, scoring goals in 90% of the trials. © Springer-Verlag Berlin Heidelberg 2004.