Term formation control for soccer robot systems

In this paper, a tactic-based decision system is proposed for mobile robots playing soccer games. The decision system can provide a term formation and assign an applicable role to each robot according to the location of the ball in the soccer field. After the role is selected, the robot system has to construct a motion plan in order to approach the goal position at next time. The function of obstacle avoidance is also included in the motion control algorithm in case of the presence of enemy robots on the way to a goal position. A group of small-size robots with wireless communication is constructed and the integrated system is tested on a reduced-size soccer field to evaluate the practical usage of the developed system.

[1]  Jiming Liu,et al.  Multi-agent robotic systems , 2001 .

[2]  Jong-Hwan Kim,et al.  Path planning and role selection mechanism for soccer robots , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[3]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[4]  Jiming Liu,et al.  Multiagent Robotic Systems , 2001 .

[5]  Jong-Hwan Kim,et al.  Action selection and strategies in robot soccer systems , 1997, Proceedings of 40th Midwest Symposium on Circuits and Systems. Dedicated to the Memory of Professor Mac Van Valkenburg.

[6]  Jack Sklansky,et al.  Automated design of linear tree classifiers , 1990, Pattern Recognit..

[7]  Jong-Hwan Kim,et al.  Action selection mechanism for soccer robot , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[8]  Zhang Qi,et al.  Studying on path planning and dynamic obstacle avoiding of soccer robot , 2000, Proceedings of the 3rd World Congress on Intelligent Control and Automation (Cat. No.00EX393).

[9]  F.H.F. Leung,et al.  Decision maker for robot soccer , 2001, IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243).

[10]  Wayne Ieee,et al.  Entropy Nets: From Decision Trees to Neural Networks , 1990 .

[11]  Ronald A. Cole,et al.  A performance comparison of trained multilayer perceptrons and trained classification trees , 1990 .