Motion controller realizing cyclic ball passing strategy among multiple mobile robots in robot soccer games

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 turn with high speed while adjusting or changing 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 ball, 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