Title :
Unifying strategies of obstacle avoidance and shooting for soccer robot systems
Author :
Kim, Cheol-Joong ; Park, Mun-Soo ; Topalov, Andon V. ; Chwa, Dongkyoung ; Hong, Suk-Kyo
Author_Institution :
Ajou Univ., Suwon
Abstract :
This paper presents unifying strategies of obstacle avoidance and shooting for robot soccer systems. Using a fuzzy-net based avoidance algorithm and limit-cycle based shooting algorithm, we propose two unifying schemes based on both parallel and series combination of them to achieve smooth transition between obstacle avoidance and shooting mode. Two proposed schemes are compared for several scenarios in experiments to evaluate the performance of them.
Keywords :
collision avoidance; fuzzy neural nets; mobile robots; sport; fuzzy-net based avoidance algorithm; limit-cycle based shooting algorithm; obstacle avoidance; soccer robot system; Angular velocity; Arithmetic; Automatic control; Control systems; Limit-cycles; Mobile robots; Robot kinematics; Robotics and automation; Solid modeling; Vectors; Fuzzy-neural network; obstacle avoidance; robot soccer systems; shooting;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406909
