SHI Lei; WANG Qiang; Wu lijun

Research on Humanoid Robot Soccer System Based on Fuzzy Logic

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Author(s)

SHI Lei ^1,* WANG Qiang ¹ Wu lijun ¹

1. Xihua University, Chengdu, China

* Corresponding author.

DOI: https://doi.org/10.5815/ijcnis.2010.01.06

Received: 5 Apr. 2010 / Revised: 12 Jun. 2010 / Accepted: 24 Aug. 2010 / Published: 8 Nov. 2010

Index Terms

Fuzzy system, humanoid robot soccer system, image processing, robot vision

Abstract

This paper presents the use of a fuzzy logic controller combined with Machine Vision to improve the accuracy to identify the ball and speed of approaching the ball in Robot Soccer. The conventional robot control consists of methods for path generation and path following. When a robot moves away the desired track, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. To achieve good control performance and requirements for timeliness, accuracy to identify and approach the ball, the paper designs a sugeno fuzzy control system, which could make robot complete the whole football performance, including finding, approaching and shooting ball. At the end of the paper, to validate the proposed fuzzy algorithm, the experiment on METALFIGHTER-2 humanoid robot has been run, which showed that the fuzzy controller is effectiveness and robustness.

Cite This Paper

SHI Lei, WANG Qiang, Wu lijun, "Research on Humanoid Robot Soccer System Based on Fuzzy Logic", International Journal of Computer Network and Information Security(IJCNIS), vol.2, no.1, pp.38-44, 2010. DOI:10.5815/ijcnis.2010.01.06

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International Journal of Computer Network and Information Security (IJCNIS)