Vision-based schemas for an autunomous robotic soccer player

Abstract

This article describes two vision-based behaviors designed for an autonomous robot. These behaviors have been designed and implemented using schemas according to an architecture named DSH (Dynamic Schema Hierarchies), which is also briefly described. The reactive behaviors implemented have been tested in our robotic soccer players, running in EyeBot commercial platforms. The developed behaviors provide the robot with the follow ball, and the follow border capabilities, using only the local camera and the robot on-board low processing power. The design of the control schemas, the algorithms used to analyze the images in perceptual schemas and relevant implementation issues are also described in this paper