In robot soccer system, vision camera is being used to measure the positions and orientations of soccer robots in 30Hz sampling speed and 5mm position resolution. That speed and position resolution is not sufficient to control robots precisely and implement various strategies. Also there exist a difficulty to compensate the data obtained by vision camera.
To overcome these problems, the principle of electromagnetic induction is applied to develop a position measurement system with high sampling speed and better resolution than the existing vision camera. The robot soccer system is characterized in the design of small robot, the limit of power and the multi-agent system. The emitting part of magnetic field by an inductor attachable to the robots is designed optimally. And the signals of induced voltage in sensor lines are analyzed to calculate the position of the emitting part in robot soccer filed. To process the small signals, the electronic circuit is simulated and implemented in features of many small signals process, filtering process, high-speed data acquisition. With this position measurement system, the position measuring error is -2~+2mm and the sampling speed of positions and orientations in 6 robots is 50Hz. These results show the improvement of the accuracy and sampling speed of position in comparison with the vision camera.
