Trajectory generation and motion tracking control for the robot soccer game

Byoung Ju Lee, Sung Oh Lee, Gwi Tae Park

Research output: Contribution to conferencePaper

14 Citations (Scopus)

Abstract

In the robot soccer game, the minimal trajectory generating method and the accurate motion trajectory control are very important. In this paper 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. In the most of the 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 methods 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.

Original languageEnglish
Pages1149-1154
Number of pages6
Publication statusPublished - 1999 Dec 1
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Lee, B. J., Lee, S. O., & Park, G. T. (1999). Trajectory generation and motion tracking control for the robot soccer game. 1149-1154. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .