A Null-Space-Based Control Method for Soccer Robots
Zhiqiang Zheng · Computer Engineering and Science · 2011
The Null-Space-Based method is a behavior-based fuzzy logic method.This paper studies the control problem of soccer robots based on the Null-Space-Based method.Taking obstacle-avoiding and forward-moving as an example,we deduce the task output function for the omni-directional motion robot of RoboCup Middle Size League by utilizing the Null-Space-Based method in a 3D space.Finaly the simulation validates our deduction.Compared with other traditional methods,this method can ensure thoroughly the accomplishment of high-priority tasks,make the best use of null-space to perform low-priority tasks and effectively avoid the conflicts between the tasks,which leads to taking full advantages of the omni-direction motion platform.