Trajectory generation and motion tracking control for the robot soccer game
Byoung-Ju Lee, Sung-Oh Lee, Gwi-Tae Park · 2003
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.