Path planning and role selection mechanism for soccer robots

Author

Kim, Jong-Hwan ; Kim, Kwang-Choon ; Kim, Dong-Han ; Kim, Yong-Jae ; Vadakkepat, Prahlad

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

3216

Abstract

A real time vector field based path planning for an attack mode robot and a Petri net state diagram approach for the robot´s role selection for robot soccer games are proposed in the paper. A robot soccer game has a dynamic environment as different robots intentionally affect the environment in unpredictable ways in a competitive setting. A soccer-playing robot has to take appropriate action according to its surroundings. The efficiency and applicability of the proposed controllers were demonstrated through real robot soccer games in MiroSot´97, held at KAIST Korea, June 1-5, 1997

Keywords

Petri nets; cooperative systems; mobile robots; path planning; robot kinematics; Petri net state diagram approach; attack mode robot; dynamic environment; real time vector field based path planning; role selection mechanism; soccer robots; Control systems; Intelligent agent; Intelligent robots; Intelligent systems; Kinematics; Mobile robots; Motion control; Multiagent systems; Path planning; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680920

Filename

680920