Design of fuzzy potential energy (FPE) for control of a soccer robot

摘要

In this paper, fuzzy potential energy (FPE) proposed in previous paper by K.-Y. Tu, et al.(2003) is extended to design for motion planning of a soccer robot. The important feature of FPE combines both path planning and motion control together for robot manipulators. That feature makes control of a soccer robot for finding and following a path more effective, reducing time consumption for path planning and motion control, such that the soccer robot competition executes command fast, and then increases win possibility. This paper modifies FPE into appropriate control command for a soccer robot. In addition, compacting control circuit for miniaturizing soccer robot body to reduce its size and weight is also included. This paper dedicates to improving performance of a soccer robot system via the viewpoints of both software and hardware.