Robot Architecture

Figure  describes architecture of Pioneer2-DX. Base Control functions such as movement are performed through the embedded hardware. Vision and localization is implemented with a firewire camera taking images at 30 frames per second and processes images using the XVision library. Image processing or tracking allows for detection of known objects such as ball, teammates and field markers and avoidance of unknown objects, such as opponents. The software planner manages all of the actions performed by the robot.

Figure: (left) Robot architecture, (right) one of our robot players.