Title :
Fuzzy rule extraction for shooting action controller of soccer robot
Author :
Jung, M.-J. ; Kim, H.-S. ; Shim, H.-S. ; Kim, J.-H.
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
A fuzzy logic controller (FLC) for shooting action is proposed which is one of the fundamental actions for soccer robots. Shooting action is viewed as a posture control problem with such a constraint that the robot should not approach the ball so that the ball moves to the home team area. The FLC consists of two levels: one is the planner level that generates a path to the ball with obstacle avoidance. The other is the motion control level that outputs robot wheel velocities to follow the desired path given the robot´s current posture. The effectiveness of the proposed scheme is verified by the real experiments.
Keywords :
fuzzy control; mobile robots; motion control; path planning; velocity control; fuzzy logic controller; fuzzy rule extraction; obstacle avoidance; path generation; posture control problem; robot wheel velocities; shooting action controller; soccer robot; Communication system control; Fuzzy control; Fuzzy logic; Hardware; Mobile robots; Motion control; Radio frequency; Robot control; Robot vision systems; Wheels;
Conference_Titel :
Fuzzy Systems Conference Proceedings, 1999. FUZZ-IEEE '99. 1999 IEEE International
Conference_Location :
Seoul, South Korea
Print_ISBN :
0-7803-5406-0
DOI :
10.1109/FUZZY.1999.793301
