Fuzzy rule extraction for shooting action controller of soccer robot

摘要

A fuzzy logic controller (FLC) for shooting action is proposed which is one of the fundamental actions for soccer robots. Shooting action is viewed as a posture control problem with such a constraint that the robot should not approach the ball so that the ball moves to the home team area. The FLC consists of two levels: one is the planner level that generates a path to the ball with obstacle avoidance. The other is the motion control level that outputs robot wheel velocities to follow the desired path given the robot's current posture. The effectiveness of the proposed scheme is verified by the real experiments.