Vision and Control Layers of UFES Hard Soccer Team

Abstract—The developed system was designed in three layers named respectively: vision, strategy and control. On this paper we will focus on vision and control layers because these have more technical features to explore. The main characteristics of the vision layer are the objects recognition based on color and the use of camshift algorithm to track objects. On the other hand, the characteristics of the control layer are the use of a ZigBee protocol-based communication device to send commands to the robots and the use of a non-linear controller to move them