Motion Controller Realizing Cyclic Ball Passing Strategy among Multiple Mobile Robots in Robot Soccer Games
نویسندگان
چکیده
A motion control and the corresponded strategy to realize cyclic ball passing motion in robot soccer games are presented in this paper. By this strategy, multiple mobile robots kick the ball in tum with high speed while they adjust or change their formation. The ball-kick controller is to drive the robot to an adequate position with a prescribed velocity in a fixed finite time. After kicking, the robot is driven to a suitable position for next ball-passing movement and could accomplish other objectives in robot soccer games. A computer simulation using dynamical model of two-wheeled mobile robot demonstrates the feasibility of this method.
منابع مشابه
Effective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کاملMotion detection by a moving observer using Kalman filter and neural network in soccer robot
In many autonomous mobile applications, robots must be capable of analyzing motion of moving objects in their environment. Duringmovement of robot the quality of images is affected by quakes of camera which cause high errors in image processing outputs. In thispaper, we propose a novel method to effectively overcome this problem using Neural Networks and Kalman Filtering theory. Thistechnique u...
متن کاملFuzzy Logic Controller for Shooting Action of an Integrated Multi-agent Robot System
An integrated multi-agent robot system for robot soccer games consists of multiple mobile robots, a vision system, a wireless communications system and a host computer. The multiple robots can be cooperatively controlled as they play a robot soccer game in an unknown and dynamic environment. The development of the system involved mechanism design and manufacture, integration of the electromecha...
متن کاملConstruction and Soccer Dynamics Analysis for an Integrated Multi-agent Soccer Robot System
An integrated multi-agent robot system (NTU-Formosa) for robot soccer games was built in this study. The system consists of multiple mobile robots, a vision system, a wireless communication system, and a host computer. The multiple robots can be cooperatively controlled as they play a robot soccer game in an unknown and dynamic environment. The development of the system involved mechanism desig...
متن کاملDelay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances. On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...
متن کامل