On the control of a wheeled mobile robot goalkeeper
Belkhouche, F.
Belkhouche, B.
EECS Dept., Tulane Univ., New Orleans, LA, USA;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 2,
On page(s): 810- 815 vol.2
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8412037
Current Version Published: 2005-06-13
Abstract
This paper deals with the control of a wheeled mobile robot goalkeeper, where the goalkeeper's task is to intercept the ball before it goes inside the goal. The control law is based on the use of the kinematics equations and some geometrical rules. In our control strategy, the goalkeeper moves in a predefined path which corresponds to a rendezvous course. The goalkeeper is controlled in the linear velocity to intercept the ball. We consider various simulation examples.
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