It needs an exact global map when the multiple mobile robot system making decisions in the task allocation and action
control, but each robot can only obtain the information which surrounds him nearby and often lose the information at long
bowls, in other words, the robot can not build a comprehensive global map of whole field. Aimed at these problems, a
multi-sensor data fusion subsystem was designed and added into the multiple mobile robot system. The experiment shows
the whole system's fault-tolerance capability and identifying capability are both enhanced evidently.
Aiming at making up the limitation of catadioptric vision system that lacks of nearby image information, which is used
for the middle-size league of RoboCup - The World Cup of Soccer Robots, this paper introduces the monocular front
vision process with the purpose of improving the primary system. The paper puts forward the idea of the monocular front
vision process at first, explains the algorithm of every module in detail, and comes up with the result as well as analyzes
it according to the experiment at last.