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Intelligent Control of Autonomous Mobile Soccer Robot Adapting to Dynamical Environment
Nobuyuki Kurihara, Ryotaku Hayashi, Hikari Fujii, Daiki Sakai, and Kazuo Yoshida
Yoshida Lab, System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, JapanAbstract. This paper deals with an intelligent control of an autonomous mobile robot, which can adapt to dynamical environments. RoboCup soccer robots are chosen as demonstration targets. An important issue in robotic soccer is how to respond to dynamical environment. This study presents an intelligent control method based on System-Life concept for the autonomous mobile robot system. In other words, it is presented how to design the activating controller, sensing element, processing element and so on. Furthermore, Kalman filter and Euler’s method are applied to estimate the motion of the ball. First, the soccer robot system is developed based on System-Life concept. Second, the intelligent control method is applied to them. Finally the experiment is carried out on RoboCup Soccer field. It is demonstrated the field player succeeds in approaching moving ball and goalkeeper prevents moving ball from netting. The validity of the proposed method is verified.
LNAI 3020, p. 568 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004