Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Hierachical Controller for Soccer Robots

축구로봇을 위한 계층적 제어기

  • 이인재 ((주)메디슨 X-ray 연구소) ;
  • 백승민 (성균관대학교 전기.전자 및 컴퓨터공학부) ;
  • 손경오 ((주)대우통신 연구소) ;
  • 국태용 (성균관대학교 전기.전자 및 컴퓨터공학부)
  • Published : 2000.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

Keywords

References

  1. Tae-Yong Kuc, Seung-Min Baek, In-Jae Lee, and Kyung-Oh Sohn 'Intelligent control strategy for robot soccer' 4th Int. Symp. on Artifi. & Robotics, Oita, Japan, 1999
  2. Tae-Yong Kuc, Woong-Gie Han, and Seung-Min Baek 'Learning control of soccer playing mobile robots' IFAC Conf. on SSC, July, 1998
  3. Lynne E. Parker 'ALLIANCE: An architecture for fault tolerant multirobot cooperation' IEEE Trans. Robotics and Automat, vol. 14, no. 2. April, 1998 https://doi.org/10.1109/70.681242
  4. Seung-Min Baek, Woong-Gie Han, and Tae-yong Kuc 'Cell-based motion control of mobile robots for soccer game' Proceeding of Micro-Robot World Cup Soccer Tournament pp. 77-82, KAIST, Taejon, Korea, July, 1997
  5. Woong-Gie Han. Seung-Min Beak and Tae-Yong Kuc 'Genetic algorithm based path planning and dynamic obstacle avoidance of mobile robots' IEEE Int. Conf. on SMC vol. 3, pp. 2747-2751, Orlando, Florida, USA, 1997 https://doi.org/10.1109/ICSMC.1997.635354
  6. Atsushi Fujimori, Peter N. Nikiforuk, and Madan M. Gupta 'Adaptive navigation of mobile robots with obstarcle avoidance'' IEEE Trans. Robotics and Automat vol. 13, no. 4, August, 1997
  7. Micro-Robot World Cup Soccer Tournament (MIROSOT '97), Call for participation, KAIST, Daejon, Korea, 1997
  8. Woong-Gie Han, Seung-Min Baek, and Tae-yong Kuc 'GA based on-line path planning of mobile robots playing soccer games' Mid West Symposium on Circuits and Systems, Sacramento, CA, USA, August, 1997 https://doi.org/10.1109/MWSCAS.1997.666188
  9. Woong-Gie Han, Seung-Min Baek, and Tae-Yong Kuc 'Path planning of visual-served multiple mobile robots using the genetic algorithms' Proceedings 96 Micro-Robot World Cup Soccer Tournament, pp. 57-63, November, 1996
  10. David B. Reister and Francois G. Pin 'Time-optimal trajectories for mobile robots with two independently driven wheels'' The International Journal of Robotics Research, vol. 13, no. 1, February, 1994
  11. Fabrice R. Noreils 'Toward a robot architecture integrating cooperation between mobile robots: Application to Indoor Environment' The International Journal of Robotics Research vol. 12, no. 2, February, 1993 https://doi.org/10.1177/027836499301200106
  12. Micro-Robot World Cup Soccer Tournament (MIROSOT '96), proceedings, KAIST, Daejon, Korea, 1996
  13. 이인재, 백승민, 손경오, 국태용, '다중이동 로봇의 계층적 제어', 한국자동제어 학술회의 논문집, 1권, pp. 252-255. 1998
  14. Arvin Agah and Kazuo Tanie 'Robots playing to win: Evolutionary soccer strategies' IEEE Int. Conf. Robotics & Automation, pp. 632-637, Albuquerque, New Mexico, April, 1997 https://doi.org/10.1109/ROBOT.1997.620107
  15. John T, Feddema, Rush D. Robinett. and Brian J. Dressen 'Designing stable finite state machine behaviors using phase plane analysis and variable structure control' IEEE Int. Conf. Robotics & Automation, pp. 1134-1141, Leuven, Belgium, May, 1998
  16. Judy A, Franklin, Tom M. Mitchell, and Sebastian Thrun 'Recent advances in robot learning' Kluwer Academic Publishers, pp. 163-187, 1996
  17. John S. Bay 'Design of the 'Army-Ant' cooperative lifting robot' IEEE Robotics & Automation Mag., pp. 36-43, March, 1995 https://doi.org/10.1109/100.388293
  18. Miguel Schneider Fontan and Maja J. Matraric 'Territorial multi-robot task division' IEEE Trans. Robotics and Automat, vol. 14, no. 5, pp. 815-822, October, 1998 https://doi.org/10.1109/70.720357
  19. http://icon.skku.ac.kr/ 축구로봇 실험 동영상