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Distributed Autonomous Robotic Systems 5 pp 187–196Cite as

Coordinated Trajectory Planning and Formation Control of Soccer Robots to Pass a Ball Cyclically

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Abstract

A ball passing strategy for robot soccer games and the corresponded controller are presented in this paper. With this strategy, three mobile robots can pass ball in turn without holding while the global formation is moving at some specific direction. The moving trajectory of each robot is planned as an arc. After kicking, a robot predicts the next kick position and moves along the planned arc. Just like human soccer player, it corrects the prediction by getting accurate information, and changes its trajectory to achieve the next kick position on time. This converts the ball passing movement to a single objective trajectory planning and tracking control problem. A computer simulation is addressed to verify the strategy.

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Author information

Authors and Affiliations

  1. Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan, R.O.C.

    Tzu-Chen Liang & Jing-Sin Liu

Authors
  1. Tzu-Chen Liang
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  2. Jing-Sin Liu
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Cite this paper

Liang, TC., Liu, JS. (2002). Coordinated Trajectory Planning and Formation Control of Soccer Robots to Pass a Ball Cyclically. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_19

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_19

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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