1. Research on Integrated Obstacle Avoidance of Robot Soccer Game 班 級 : 碩研電機一甲 指導 教授 : 謝銘原 學生 : 洪家信 學號 :MA320203

2. Abstract In the Robot-Soccer, each behavior of the Robot is realized through a series of motions as people do, so a consummate motion is what people are always in pursuit of. To addition to going for goal, we also pursue fluent motions and some artistry, and the precondition to insure the fluent motions is to avoid the block.

3. Abstract The article is mainly around as follow: how to use the molecular interaction to realize avoidance. To the Robot-Soccer, each behavior of the Robot is realized through a series of motions as people do,so a consummate motion is what people are always in pursuit of. In addition to going for goal, we also pursue fluent motions and some artistry, and the precondition to insure the fluent motions is to avoid the block. The article is mainly around as follow: how to use the molecular interaction to realize obstacle avoidance technology.

4. INTRODUCTION Robot soccer is a international big game and academic activities to promote the distributed artificial intelligence, Intelligent robot technology and related fields of research and development. It provides a standard through the game platform to test various intelligent robot technologies. Its ultimate dream is able in 2050 to develop a robot football team,which can beat the human football players Focus on robot soccer simulation is Multi-Agent of competition and cooperation relationship.

5. INTRODUCTION In the simulation of the robot soccer game the most important is the design of the strategy, and the most basic in the design of the strategy is to design and program of robot moves, so a good basic action and outstanding decision making robot team could easily win the game. Basic action is like a engineering foundation, and it‘s solid or not directly affect the quality of the projects, so smooth action is the key to the game.

6. INTRODUCTION Robot obstacle avoidance is to ensure the premise of smooth action. So obstacle avoidance is the top priority, but also the foundation of soccer robot strategy. This paper is the use of molecular inter-atomic forces phenomenon to simulate the robot football field mechanics, and for analysis and use.

7. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN  A. Comprehensive obstacle avoidance modeling Through simulating the situation of molecular interatomic forces, to realize comprehensive obstacle avoidance. As we know, in physics, intermolecular focus is divided into gravity and repulsion. When the distance between two molecules is greater than a constant value, the molecules present between the gravity,and within a certain range, the farther the distance between the molecules,the greater the gravity.

8. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN It is not difficult to find that, the above phenomenon and robot football the situation is somewhat similar. This phenomenon will be abstracted out to robot football mechanics model. For instance in strategy file, set such a constant, When the distance between the robot and the target is greater than the constant, the gravity between them showed, can guide the robot to track the target.

9. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN But if the distance between them is less than this constant, presenting a repulsive force between them, and the distance between them decreases with increasing repulsion. To get the each robot mechanics analysis on the field, Finally the direction and the size of the resultant force would be mapped to the robot's wheel space to prevent the robot hit the target, and obstacle avoidance can be done right. Below will give an example.

10.  B. Comprehensive analysis of obstacle avoidance method The basic idea of comprehensive obstacle avoidance is all the objects are seen as obstacles( obstacles include four wall). When attacking, the motion process always have a traction tracking it to target, and make it toward target direction. As shown in figure 1. Among them q for target, and r for attacking robot. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN

11.  C. The Schematic diagram of obstacle avoidance When the attack robot and obstacles stand closely or reach a certain distance, obstacles will give the robot a repulsive force, when the repulsion is created, repulsive force and traction force will produce a resultant force, the direction of this force will make the attacking robot change the former movement direction, toward the new force direction. So no matter how many robots meet obstacles, each obstacle would give it a repulsive force, so make robots don‘t run into obstacles. It shows in figure 2.

12. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN When the robot close to the wall, the wall will give the robot a repulsive force, attacking the robot will not run into a wall, avoid the robot touching the wall and making a death phenomenon. It shows in figure 3.

13. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN Every obstacle will make robots bear the function of the repulsion, calculation the resultant force of three repulsive forces and the traction force, calculate the direction according to the parallelogram role. The direction of new force is that the attack robot's movement direction. (use three obstacles as an example), as shown in figure 4.

14. ROBOT COMPREHENSIVE OBSTACLE AVOIDANCE ACTION DESIGN Among them, a and b stand for obstacles, r plays attack robots, q is the traction, c 1 is repulsive of the force b to r, c2 is repulsive of the force a to r, c3 is repulsive of the force the wall to r, hI stands for the resultant force of c3 and q, h2 stands for c1' s and c3' s resultant force, h3 is the resultant force of hi and h2, h4 is the final force of h2 and h3.

15. THE DESCRIPTION OF COMPREHENSIVE OBSTACLE AVOIDANCE ALGORITHM

16. When attacking robot reaches the obstacle, it is forced by repulsive force and it will be broken down into the horizontal level and vertical component, then add the horizontal and vertical component of the repulsive force and the traction force together partly, finally obtained the resultant force. Fx=Qx+Cx Fy=Qy+Cy+Wy

17. CONCLUSION This paper with a lot of space to introduce comprehensive obstacle avoidance action design of soccer robot. Tn three of the respectively to elaborate, when the robot is an obstacle, when the wall for obstacle and has multiple obstacles, the last detail explain the obstacle avoidance method of analysis and the algorithm analysis, These methods and the algorithm for readers to develop other obstacle avoidance program provides reference model.

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