Ball interception by a mobile robot goalkeeper using parallel navigation

This paper deals with the feedback control of a goalkeeper. The algorithm is based on the use of geometrical rules, where the goalkeeper moves on lines which are parallel to the initial line that joins the robot and the ball. The robot moves with a constant velocity and is controlled in the orientation angle, which is a continuous function of the ball’s velocity and orientation. It turns out that the goalkeeper is moving in a straight line when the ball moves with a constant linear velocity and constant orientation angle.