ZJUNlict
Extended TDP for RoboCup 2013
Yonghai Wu, Yue Zhao, Yifan Shen, Chuan Li,
Li Fang, Hangjun Tong and Rong Xiong
National Laboratory of Industrial Control Technology
Zhejiang University
Zheda Road No.38,Hangzhou
Zhejiang Province,P.R.China
cliffyin@zju.edu.cn
http://www.nlict.zju.edu.cn/ssl/WelcomePage.html
Abstract.
ZJUNlict have participated in Robocup for about nine years
since 2004. In this paper, we summarizes the details of ZJUNlict robot
soccer system we have made in recent years. we will emphasize the main
ideas of designing in the robots’ hardware and our new software systems.
Also we will share our tips on some special problems.
1
Introduction
Our team is an open project supported by the National Lab. of Industrial
Control Technology in Zhejiang University, China. We have started since 2003
and participated in RoboCup 2004-2012. The competition and communication
in RoboCup games benefit us a lot. In 2007-2008 RoboCup, we were one of the
top four teams in the league. We also won the first place in Robocup China
Open in 2006-2008 and 2011. Last year, we won the second price in Mexico City,
which is a great excitation to us. And we incorporate what we have done in
recent years to this paper.
Our Team members come from serveral different colleges, so each member
can contribute more to our project and do more efficient job.
Team Leader
Yonghai Wu (AI)
Team Member
–
AI: Yue Zhao, Qun Wang, Hangjun Tong, Xiaohe Dai
–
Electronic: Yifan Shen, Chuan Li, Li Fnag
2
Hardware Architecture
2.1
Robot
Components of the Robot
Our robots are equipped with 4 omni-directional
wheels. Each is driven by a 30 watt brushless Maxon motors which help our
robot run with about 3
.
0
m/s
and 6
.
0
m/s
2
. The reduction ratio of the gearbox