Fuzzy Logic Controller for Shooting Action of an Integrated Multi-agent Robot System

An integrated multi-agent robot system for robot soccer games consists of multiple mobile robots, a vision system, a wireless communications system and a host computer. The multiple robots can be cooperatively controlled as they play a robot soccer game in an unknown and dynamic environment. The development of the system involved mechanism design and manufacture, integration of the electromechanical system, vision system, pattern recognition, decision-making, wireless communications, motion control and centralized coordination control. This paper proposes a fuzzy logic controller for shooting action which is one of the fundamental actions for soccer robots. The shooting action is view 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 fuzzy logic controller 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 fuzzy logic controller is verified by the simulation results.