104 四輪操舵型サッカーロボットの開発

概要

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The purpose of this research is to realize the flexible robot in the environment; Robocup. Sincee the robot of this research is 4WS vehicle type, the motion of the robot is very restricted by non-holonomic restriction. There are many researches of a control method under the non-holonmic restriction.. In this paper, a method to reduce it's calculation time is presented by proposing a new Fuzzy stute Mapping method based on System Life that is a concept to realize a flexible robot considering symbiosis with environment. In this fuzzy control system, only 3 inputs (ball orient, ball distance, goal orient) are necessary. A real robot based on Robocup regulation is developed in this research. It has a computer. actuators and CCD camera with pan tilt mechanism. In the results of simulation and experiment, the trajectory generation by this method is useful in comparison with other methods, and also show the results of experiment using the real robot.
社団法人日本機械学会の論文
2000-09-01