A Multi-modal Method for Soccer Robot Bottom Action Control
One of the key issues in soccer robot is to select appropriate algorithm for bottom action control when the bottom hardware is fixed. In this paper, a new approach was proposed for bottom action control, which was called multi-modal method. Firstly, the perception input was divided into different modes through character extraction. Secondly, different control modes were built by combining different control method for the linear velocity and angular velocity. Finally, based on production rule, the motion control was realized by making different perception to drive the corresponding control mode. Taken the middle-size robot Frontier-I as experiment platform and the dynamic object navigation and obstacle avoidance as examples, compares with the PID control method, many experiments have been done in simulation and actual match respectively. Experiment results prove that robot can react rapidly and its moving track is smooth by using multi-modal method.
Multi-modal PID Perception Action control Soccer robot
Tiejun Li Guifang Shao Zushu Li Fang Yu
Department of Information Engineering Jimei University Xiamen,Fujian Province, China Institute of Pattern Recognition and Intelligent System Xiamen University Xiamen, Fujian Province, C Institute of Intelligent Automation Chongqing University Chongqing, China
国际会议
2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)
重庆
英文
1-6
2008-12-11（万方平台首次上网日期，不代表论文的发表时间）