In this paper, we present a software architecture that can be implemented on a humanoid platform with low– computational power to make it to autonomous. The platform we used is the Robovie-V of V-Stone. the application we chose is the RoboCup soccer competitions. We will present the simple behaviour selection architecture implemented with a finite state machine (FSM) in our robot. We will present the highly optimized algorithms used for image processing and we will give some hints on how it is possibile to extend the flexibility of a low computational power humanoid with a customized operating system. These solutions are quite general and can be applied to any humanoid platform with low-computational power.
A light software architecture for a Humanoid Soccer Robot
PAGELLO, ENRICO;MENEGATTI, EMANUELE
2006
Abstract
In this paper, we present a software architecture that can be implemented on a humanoid platform with low– computational power to make it to autonomous. The platform we used is the Robovie-V of V-Stone. the application we chose is the RoboCup soccer competitions. We will present the simple behaviour selection architecture implemented with a finite state machine (FSM) in our robot. We will present the highly optimized algorithms used for image processing and we will give some hints on how it is possibile to extend the flexibility of a low computational power humanoid with a customized operating system. These solutions are quite general and can be applied to any humanoid platform with low-computational power.Pubblicazioni consigliate
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