Title :
On the control of a wheeled mobile robot goalkeeper
Author :
Belkhouche, F. ; Belkhouche, B.
Author_Institution :
EECS Dept., Tulane Univ., New Orleans, LA, USA
Abstract :
This paper deals with the control of a wheeled mobile robot goalkeeper, where the goalkeeper´s task is to intercept the ball before it goes inside the goal. The control law is based on the use of the kinematics equations and some geometrical rules. In our control strategy, the goalkeeper moves in a predefined path which corresponds to a rendezvous course. The goalkeeper is controlled in the linear velocity to intercept the ball. We consider various simulation examples.
Keywords :
mobile robots; motion control; robot kinematics; sport; control law; control strategy; geometrical rules; kinematics equations; linear velocity; rendezvous course; wheeled mobile robot goalkeeper control; Angular velocity; Equations; Mobile robots; Motion control; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Service robots; Velocity control;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438022
