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

Volume

1

fYear

1999

fDate

22-25 Aug. 1999

Firstpage

556

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems Conference Proceedings, 1999. FUZZ-IEEE '99. 1999 IEEE International

Conference_Location

Seoul, South Korea

ISSN

1098-7584

Print_ISBN

0-7803-5406-0

Type

conf

DOI

10.1109/FUZZY.1999.793301

Filename

793301