The application research of a fuzzy controller on robot

In robot soccer competition, it is important that the robot can identify and approach the ball quickly and accurately. This paper presents a fuzzy control method which could improve the accuracy and speed to recognize ball. The conventional robot control consists of methods for path generation and following. When a robot moves away the desired track, it must return immediately, and while doing so, the obstacle avoidance behavior are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. To achieve good control performance and requirements for timeliness, accuracy to identify and approach the ball, the paper designs a sugeno fuzzy control system, which could make robot complete the whole football performance, including finding, approaching and shooting ball. At the end of the paper, to validate the proposed fuzzy algorithm, the experiment on METALFIGHTER-2 humanoid robot has been run, which showed that the fuzzy controller is simpleness, effectiveness and robustness.