J4 ›› 2011, Vol. 33 ›› Issue (9): 145-150.
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WU Linbo,WANG Xiangke,ZHANG Hui,ZHENG Zhiqiang
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Abstract:
The NullSpaceBased method is a behaviorbased fuzzy logic method. This paper studies the control problem of soccer robots based on the NullSpaceBased method. Taking obstacleavoiding and forwardmoving as an example, we deduce the task output function for the omnidirectional motion robot of RoboCup Middle Size League by utilizing the NullSpaceBased method in a 3D space. Finaly the simulation validates our deduction. Compared with other traditional methods, this method can ensure thoroughly the accomplishment of highpriority tasks, make the best use of nullspace to perform lowpriority tasks and effectively avoid the conflicts between the tasks, which leads to taking full advantages of the omnidirection motion platform.
Key words: nullspacebased;behaviorbased;soccer robot
WU Linbo,WANG Xiangke,ZHANG Hui,ZHENG Zhiqiang. A NullSpaceBased Control Method for Soccer Robots[J]. J4, 2011, 33(9): 145-150.
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http://joces.nudt.edu.cn/EN/Y2011/V33/I9/145