Abstract:

The NullSpaceBased method is a behaviorbased fuzzy logic method. This paper studies the control problem of soccer robots based on the NullSpaceBased method. Taking obstacleavoiding and forwardmoving as an example, we deduce the task output function for the omnidirectional motion robot of RoboCup Middle Size League by utilizing the NullSpaceBased method in a 3D space. Finaly the simulation validates our deduction. Compared with other traditional methods, this method can ensure thoroughly the accomplishment of highpriority tasks, make the best use of nullspace to perform lowpriority tasks and effectively avoid the conflicts between the tasks, which leads to taking full advantages of the omnidirection motion platform.

Key words: nullspacebased;behaviorbased;soccer robot