Publication detail

Modelling and Control of a Soccer Robot

ŠOLC, F., HONZÍK, B.

Original Title

Modelling and Control of a Soccer Robot

Type

conference paper

Language

English

Original Abstract

Robotic soccer is a challenging research and pedagogical domain that involves many technical and or scientific problems. Vision system is required to see the field, ball and players. Mechanical and electrical systems must be robust and reliable. Low-level control system of robot players must be able to control the players precisely enough. High-level strategic control usually involves some aspects of AI. Moreover, all this must work in real time and in harmony. Any part of the system must be well designed and good enough in order that the team may win the match. Thus it is worthwhile to deal with control and construction of an individual player to secure good quality of this basic element of the system. The paper describes some results of development of robot soccer team RoBohemia from Brno University of Technology. The robot soccer team belongs to MIROSOT (MIcro RObot SOccer Tournament) robot soccer category. The paper introduces mathematical model and simulation scheme of the robot player simultaneously with some construction details. Both dynamic and kinematic models are considered. The paper describes also a control scheme and problems connected with control of the robot player. Control scheme must guarantee non-oscillatory and fast movement of the robot during a match.

Key words in English

robot soccer, simulation, modelling

Authors

ŠOLC, F., HONZÍK, B.

RIV year

2002

Released

3. 7. 2002

Publisher

University of maribor

Location

Maribor

ISBN

0-7803-7479-7

Book

7th International Workshop on Advanced Motion Control

Pages from

506

Pages to

509

Pages count

4

BibTex

@inproceedings{BUT4743,
  author="František {Šolc} and Bohumil {Honzík}",
  title="Modelling and Control of a Soccer Robot",
  booktitle="7th International Workshop on Advanced Motion Control",
  year="2002",
  pages="4",
  publisher="University of maribor",
  address="Maribor",
  isbn="0-7803-7479-7"
}