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

Liang, Tzu-Chen; Liu, Jing‐Sin

doi:10.1109/robot.2002.1013621

Cited by 3 publications

References 9 publications

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Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

Liu¹,

Liang²,

Yuan³

2004

Robotica

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Ball passing is an elementary and frequently employed human soccer skill. This paper examines the realization and visualization of ball passing, a low level move-to-ball behavior of a soccer robot, in a robot soccer game. A case study of three mechanically identical mobile robots with a formation ready to pass a ball cyclically in a zigzag pattern is examined. We build a control command driven mobile robot motion simulator with a controller and dynamics of mobile robots, not only nonholonomic kinematic constraints to simulate the motion of a soccer robot driven by wheels torques to generate wheels accelerations, to update the robot position and orientation at successive time instants. Kick motion follows a physical law, and a simplified collision check and response model is utilized for the efficient detection of the hitting a robot with the ball or other robots. The realization of specific ball passing strategy to drive each soccer robot in a position to receive a pass includes three levels of organization, coordination, and execution: careful integrated design of a dynamic formation and role change scheme, ball position estimation, and coordinated trajectory (i.e. path and velocity) planning and tracking control. Simulations are performed to illustrate the feasibility of the realization of ball passing among three robots, implemented by a software program for coordinated trajectory planning and tracking control in the developed simulator.

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Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

Liu¹,

Liang²,

Yuan³

2004

Robotica

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Motion Control of Mobile Robot for Moving Object Capture and Shooting

Ping

2006

2006 IEEE International Conference on Industrial Informatics

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The robot soccer game based complex motion control has been widely studied for the moving object capture and shooting. A position prediction algorithm based on global vision is introduced in order to improve the accuracy and robustness of the vision system for tracking moving objects, including a Kalman filter, a dynamic window and an obstacle avoidance strategy. The novel method is successfully applied to the system for the dynamic capturing and shooting. The simulated experimental results show the proposed technique is effective.

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Multirobot Systems: A Classification Focused on Coordination

Farinelli

Iocchi

Nardi

2004

IEEE Trans. Syst., Man, Cybern. B

305

177

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Abstract-Multi-Robot Systems (MRS) are, nowadays, an important research area within Robotics and Artificial Intelligence and a growing number of systems has been recently presented in the literature. Since application domains and tasks that are faced by MRS are of increasing complexity, the ability of the robots to cooperate can be regarded as a fundamental feature. In this paper, we present a survey of the recent work in the area by specifically examining the forms of cooperation and coordination realized in the MRS. In particular, we propose a new taxonomy for classification of the approaches to coordination in MRS and we describe some systems, which we consider representative in our taxonomy. We finally discuss the outcomes of our analysis and try to highlight future trends of the research on MRS.

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

Cited by 3 publications

References 9 publications

Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

Realization of a ball passing strategy for a robot soccer game: a case study of integrated planning and control

Motion Control of Mobile Robot for Moving Object Capture and Shooting

Multirobot Systems: A Classification Focused on Coordination

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