Motion Control of Mobile Robot for Moving Object Capture and Shooting

The robot soccer game based complex motion control has been widely studied for the moving object capture and shooting. A position prediction algorithm based on global vision is introduced in order to improve the accuracy and robustness of the vision system for tracking moving objects, including a Kalman filter, a dynamic window and an obstacle avoidance strategy. The novel method is successfully applied to the system for the dynamic capturing and shooting. The simulated experimental results show the proposed technique is effective.