Motion Control of the Soccer Robot Based on Fuzzy Logic
- Conference date: 25–30 September 2008
- Location: Hersonissos, Crete (Greece)
Robot soccer is a challenging platform for multi‐agent research, involving topics such as real‐time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. This paper describes the use of fuzzy logic control for the low level motion of a soccer robot. Firstly, the modelling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential‐drive mobile robot with non‐slipping and pure‐rolling. Then, the design of fuzzy controller is describes. Finally, the computer simulations in MATLAB Simulink show that proposed fuzzy logic controller works well.
- Fuzzy logic
- Process monitoring and control
- Computer simulation
- Image processing
- Machine learning
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