TY - GEN
T1 - Rapid control prototyping for robot soccer
AU - Han, Soo Hee
AU - Ahn, Choon Ki
PY - 2008
Y1 - 2008
N2 - In this paper, we propose rapid control prototyping (RCP) for a robot soccer using the SIMTool that has been developed in Seoul National University, Korea for the control aided control system design (CACSD). The proposed RCP enables us to carry out the rapid design and the verification of controls for two-wheeled mobile robots (TWMRs), players in the robot soccer, without writing C codes directly and requiring a special H/W. On the basis of the proposed RCP, a blockset for the robot soccer is developed for easy design of a variety of mathematical and logical algorithms. All blocks in the blockset are made up of basic blocks offered by the SIMTool. User-defined algorithms can be easily and efficiently constructed with just a combination of the blocks in the blockset. In order to validate the proposed RCP in a real game, we employ an official simulation game for the robot soccer, the SimuroSot. Block diagrams are constructed for strategy, path calculation, and the interface to the SIMTool. We show that the algorithms implemented with the proposed RCP work well in the simulation game.
AB - In this paper, we propose rapid control prototyping (RCP) for a robot soccer using the SIMTool that has been developed in Seoul National University, Korea for the control aided control system design (CACSD). The proposed RCP enables us to carry out the rapid design and the verification of controls for two-wheeled mobile robots (TWMRs), players in the robot soccer, without writing C codes directly and requiring a special H/W. On the basis of the proposed RCP, a blockset for the robot soccer is developed for easy design of a variety of mathematical and logical algorithms. All blocks in the blockset are made up of basic blocks offered by the SIMTool. User-defined algorithms can be easily and efficiently constructed with just a combination of the blocks in the blockset. In order to validate the proposed RCP in a real game, we employ an official simulation game for the robot soccer, the SimuroSot. Block diagrams are constructed for strategy, path calculation, and the interface to the SIMTool. We show that the algorithms implemented with the proposed RCP work well in the simulation game.
KW - Control education
UR - http://www.scopus.com/inward/record.url?scp=79961017736&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2127
DO - 10.3182/20080706-5-KR-1001.2127
M3 - Conference contribution
AN - SCOPUS:79961017736
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -