Development of Autonomous Humanoid Robot Control for Competitive Environment Using Fuzzy Logic and Heuristic Search

摘要

In this paper, we propose a novel method for interaction between humanoid robots in a competitive environment based on fuzzy logic and its implementation on an experimental platform which was validated using soccer gameplay. The proposed methodology employs vision-based feedback of the humanoid's workspace. The position of the humanoids and other objects are expressed in a newly proposed diagonal coordinate system. Hough transform with moment strategy is used to obtain odometric data of humanoids. The proposed motion planning algorithm is a combination of IDA~* and linear interpolation which accounts to a major part of the path estimator. Post the path estimator, the motion execution is achieved by a fuzzy-based control system.