A Control Strategy to Estimate the Robot Position Of Barelang-FC Striker

摘要

This paper presents a control strategy to move its body to the ball position before kick the ball for the humanoid robot soccer called Barelang-FC. This strategy was dedicated for the striker of Barelang-FC. The control strategy involved the robot structure and the position of camera vision. To overcome this strategy, at the first robot calculated the actual distance from robot to the ball and distinguished the opponent's goal. After getting the actual distance of the ball and the heading of the opponent's goal, a PID controller was chosen to maintain the stability of walking. To make sure the control strategy worked on the robot, a real-time application has been done on the Barelang-FC striker. The experimental results show that robot afford to move towards the ball before kicking the ball at the opponent's goal in the proper position.