Trajectory generation and motion tracking control for the robot soccer game

In a robot soccer game, a minimal trajectory generating method and accurate motion trajectory control are very important. We suggest a trajectory generating method which is very simple and effective. This method uses only arcs and lines. We also propose a new motion tracking control method. In most motion tracking control the main control parameter is a steering angle. But we use a steering radius instead of the steering angle as a control parameter. In this method we don´t have to consider a dynamic equation of the robot. As a result we can control robots simply and accurately. These proposed methods are applied to the robot soccer system, named `Crimson´, which has participated in Robot WorldCup´98 in Paris. Simulation results show that these methods are simple and effective compared with the conventional methods