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Trajectory generation and motion tracking control for the robot soccer game

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3 Author(s)
Byoung-Ju Lee ; Dept. of Electr. Eng., Korea Univ., Seoul, South Korea ; Sung-Oh Lee ; Gwi-Tae Park

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

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:2 )

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