Abstract
This paper deals with an intelligent control of an autonomous mobile robot, which can adapt to dynamical environments. RoboCup soccer robots are chosen as demonstration targets. An important issue in robotic soccer is how to respond to dynamical environment. This study presents an intelligent control method based on System-Life concept for the autonomous mobile robot system. In other words, it is presented how to design the activating controller, sensing element, processing element and so on. Furthermore, Kalman filter and Euler’s method are applied to estimate the motion of the ball. First, the soccer robot system is developed based on System-Life concept. Second, the intelligent control method is applied to them. Finally the experiment is carried out on RoboCup Soccer field. It is demonstrated the field player succeeds in approaching moving ball and goalkeeper prevents moving ball from netting. The validity of the proposed method is verified.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Fikes, R.E., Nilsson, N.J.: STRIPS: A New Approach to the Application of Theorem Proving to Problem Solving. Artificial Intelligence 2, 189–208 (1971)
Brooks, R.A.: A Robust Layered Control System for a Mobile Robot. IEEE Robotics and Automation 2(1), 14–23 (1986)
Rosenshein, S.: Formal Theories of Knowledge in AI and Robotics. New Generation Computing 3(4), 345–357 (1985)
Yoshida, K.: System-Life. In: Proc. General Conf. JSME, vol. 98-1, pp. 113–114 (1998) (in Japanese)
Yoshida, K.: Intelligent Control Using Cubic Neural Network. Systems Control and Information 43(7), 328–336 (1999) (in Japanese)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kurihara, N., Hayashi, R., Fujii, H., Sakai, D., Yoshida, K. (2004). Intelligent Control of Autonomous Mobile Soccer Robot Adapting to Dynamical Environment. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds) RoboCup 2003: Robot Soccer World Cup VII. RoboCup 2003. Lecture Notes in Computer Science(), vol 3020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25940-4_53
Download citation
DOI: https://doi.org/10.1007/978-3-540-25940-4_53
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22443-3
Online ISBN: 978-3-540-25940-4
eBook Packages: Springer Book Archive