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FIRA 2011: Next Wave in Robotics pp 186–192Cite as

Parameter Estimation of Potential Field Method with Fuzzy Control for Motion Planning of Soccer Robot

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 212))

Abstract

Based on fuzzy control to adjust attractive factor and repulsive factor of potential function, a method is proposed to navigate a soccer robot from a given initial configuration to a ball and avoid an opponent robot. The potential field method has some problems that include oscillations in the presence of obstacles. Thus, this paper suggests use fuzzy control to adjust attractive factor and repulsive factor. By the attractive factor and repulsive factor of the potential function, the navigation path of the mobile robot is smooth and the shortest. To show the feasibility of the proposed method, the simulation results are included in the following illustrations.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Chung Chou Institute of Technology, Yuanlin, Changhua, 510, Taiwan, R.O.C.

    Li-Chun Lai & Chun-Feng Lu

  2. Department of Applied Information Sciences, Chung Shan Medical University, Taichung, 402, Taiwan, R.O.C.

    Yen-Ching Chang

  3. Department of Automation Engineering, Nan Kai University of Technology, Nantou, 542, Taiwan, R.O.C.

    Tsong-Li Lee

Authors
  1. Li-Chun Lai
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  2. Chun-Feng Lu
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  3. Yen-Ching Chang
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  4. Tsong-Li Lee
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, National Cheng Kung University, No. 1, University Road, 701, Tainan City, Taiwan

    Tzuu-Hseng S. Li

  2. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, 40227, Taichung, Taiwan

    Kuo-Yang Tu

  3. Department of Electrical Engineering, Nationan Chung Hsing University, No. 250, Kuo-Kuang Road, 40227, Taichung, Taiwan

    Ching-Chih Tsai

  4. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Road, Section 1, 10610, Taipei, Taiwan

    Chen-Chien Hsu

  5. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Chien-Cheng Tseng

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

  7. Department of Computer Science,, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  8. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  9. Tamkang University, Taipei, Taiwan

    Ching-Chang Wong

  10. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  11. Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Sec. 4, Keelung Rd., 106, Taipei, Taiwan

    Chung-Hsien Kuo

  12. Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Haw-Ching Yang

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© 2011 Springer-Verlag Berlin Heidelberg

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Lai, LC., Lu, CF., Chang, YC., Lee, TL. (2011). Parameter Estimation of Potential Field Method with Fuzzy Control for Motion Planning of Soccer Robot. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_23

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  • DOI: https://doi.org/10.1007/978-3-642-23147-6_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23146-9

  • Online ISBN: 978-3-642-23147-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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