Arvand: A Soccer Player Robot

  • Mansour Jamzad
  • Amirali Foroughnassiraei
  • Ehsan Chiniforooshan
  • Reza Ghorbani
  • Moslem Kazemi
  • Hamidreza Chitsaz
  • Farid Mobasser
  • Sayyed Sadjad


ARVAND is a robot specially designed and constructed for playing soccer in the medium-size league according to RoboCup rules and regulations. This robot consists of a moving mechanism, motion-control hardware, software, and a wireless communication system. The motion mechanism consists of a drive unit, a steer unit, and a castor wheel. Motion control is carried out by a special control board that uses two microcontrollers to carry out the software system decisions and transfers them to the robot mechanics. The software system performs real-time object recognition at the rate of 16 frames a second. Playing algorithms are based on deterministic methods and communication among robots. We have constructed four such robots and successfully proved their performance at RoboCup-99.