RoboDragons 2010 Extended Team Description
Akeru Ishikawa, Takashi Sakai, Jousuke Nagai, Taro Inagaki, Hajime
Sawaguchi, Yuji Nunome, Kazuhito Murakami and Tadashi Naruse
Aichi Prefectural University, Nagakute-cho, Aichi, 480-1198 JAPAN
Abstract.
This paper describes the system configuration of Aichi Pre-
fectural University’s RoboDragons 2010 and related research topics. Main
topic in this year is that we developed a new robot hardware. We describe
it in detail here. There are some improvements in soccer software. We
overview our soccer software. Our research results which will be imple-
mented near future are described: a real time computation of dominant
region and a defending strategy based on a safety region.
1
Introduction
This year’s extended team description paper (ETDP) of RoboDragons2010 de-
scribes a new robot hardware, an improved software of RoboDragons 2010 system
and ongoing studies.
First, robot hardware. Our current robots are the fifth generation ones in
our Labs. Our team has six robots, five for competition and one for a reserve.
Each robot of RoboDragons consists of four omni-directional wheels, a dribbling
device, two kicking devices (for chip kick and straight kick) and the embedded
computer for controlling the robot. They are controlled by a host computer next
to the field. Second, software. The software on the host computer origenates
from the one when we made a joint team with CMU in 2004 and 2005. Many
improvements have done since 2005, however, this year, noticeable improvement
has not done. We overview our software centering on minar changes. Third,
research related topics. Several researches on strategies have been doing these
years. We introduce the real time dominant region calculation and the defending
strategy based on the safety region. These thechneques will be implemented in
the RoboDragons system in near future.
In the following sections, we describe these topics.
2
Robots
In this section, we discuss our new robots in detail. First, we show the overview
of our new robot in Figure 1.
2.1
Dimensions of robot
The robot can be packed in the cylinder with dimensions of 145
mm
height
and 178
mm
diameter. To protect the internal circuit boards and mechanical