TR-IIS-02-007    PDF format

Email: hartree@iis.sinica.edu.tw and liu@iis.sinica.edu.tw

This report includes two parts. First we build a mobile robot motion simulator. The simulator provides a platform to develop strategies and control methods for robot soccer games. Second, a strategy for three mobile robots to pass a ball in turn with specific direction intention is suggested and realized by this simulator. In the simulator, the robot motion is simulated by dynamical model of type (2,0) unicycle mobile robot. Kick motion follows physical law, and a simplified collision model is utilized to avoid robot overlapping. Ball passing strategy includes a formation and role change scheme, a trajectory planning method and a tracking controller. It formulates the ball passing movement of robots as a problem of tracking and goal adjusting, just like human soccer players do. The results hint that a human-like behavior pattern is applicable in robot soccer games.

Key Words: Robot Soccer Games, Ball Passing, Multiple Robots, Formation, Tracking Control, and Trajectory Planning