Ball-handling motion control for soccer playing mini-robots

This thesis describes improvements with respect to motion planning and control in the MI20 robot soccer system. Technologies from the fields of artificial intelligence, control theory, embedded systems and motion planning are used. To compete in the MiroSot category with mini-sized mobile robots requires playing skills for ball handling control. The existing implementations of these playing skills were unsatisfactorily in prediction, preplanning and control. Therefore the planned paths in motion planning are extended with the more flexible Bézier splines. By adding time or distance as parameter to such splines, trajectories results, that completely specifies the desired motion. To keep a mobile robot on a trajectory a timed controller is used. This control system uses a velocity profile and a trajectory as feed-forward control and uses feed-backward control based on measurements to correct the robot due to the uncontrolled dynamics.