Motion control system in a hybrid architecture for middle-size soccer robot

This paper proposes the motion control system in a hybrid architecture for middle-size soccer robot. A hybrid architecture combining hierarchical architecture and subsumption architecture is composed of four levels, such as the central control unit, the sensor information processing unit, the motion control system and the execution level. A local path planning algorithm fitting for autonomous soccer robot in dynamic environment is applied, and several actions and behaviors are properly designed for soccer robot motion control. The effectiveness of the proposed motion control system is validated by simulating and implementing it in a real soccer robot platform SmartROB2.