MRL Team Description 2009

MRL Small Size Soccer Team is planning to participate in 2009 world games. The team has attended 2008 games and several modifications are made to improve its efficiency in the competitive environment. Our team's activities including mechanics, electronics, software, vision and artificial intelligence are described in this paper. Innovative approaches in designing and manufacturing 4-wheeled robots especially locomotion plan and a newly developed two kicker mechanisms are described in mechanics. Basic amendments in electronics, mechanics and software architecture are devised to reinforce the robots abilities. The sliding mode controller is utilized for motion control. Pattern recognition methods in Bayer space was our attitude for image processing. An overall description of the team structure is presented here.