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- W151109386 abstract "Soccer robot is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, 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 tracking capability, this paper proposes a path following approach based on fuzzy logic. The fuzzy logic control is used for the low level motion of a soccer robot. Firstly, the modeling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential-drive mobile robot with non-slipping and pure-rolling. Then, the design of fuzzy controller is describes. To validate the proposed fuzzy algorithm two experiments have been run: in the first experiment, the robot moves toward the static ball and shoots to the opponent goal; in the second, the robot avoid two obstacles and arrive at the desired position and shoots to the opponent goal." @default.
- W151109386 created "2016-06-24" @default.
- W151109386 creator A5090223063 @default.
- W151109386 date "2009-07-22" @default.
- W151109386 modified "2023-09-23" @default.
- W151109386 title "Mobile robot path tracking using fuzzy logic" @default.
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