Motion Control of Robocup Middle Size Soccer Robot

In order to track object quickly and accurately for Robocup middle size league soccer robot, the kinematics and dynamics model of the robot is analysed, then an intelligent motion control system is proposed. The object's position is estimated by omni-directional vision system. Then zero order Sugeno fuzzy controller is applied to calculate the setting values of motors' angular velocity. Finally, the motors' velocity and current are controlled by motor servo control systems. The experimental results demonstrate the proposed system satisfies robot's motion requirement for speediness and accuracy, and has been successfully applied to SCUT-II soccer robot.