a Record control number 000333734900337

a ISBN 978--1--4673-5769--2

a Original cataloging agency NEU GrandLibrary

a Language code of text/sound track or separate title eng

a Classification number TJ212

b Item number .C66 2013

a Personal name Abiyev, Rahib H.,

h Medium Electronic Document

a Title Control of Soccer Robots Using Behaviour Trees

c Statement of responsibility, etc Rahib H. Abiyev, Nurullah Akkaya, Ersin Aytac.

b Name of publisher, distributor, etc IEEE

c Date of publication, distribution, etc 2013.

a Summary, etc In the paper a novel behaviour tree based control used in decision making processes of robot soccer is proposed. Decision Making (DM) is a basic block of robot that analyses the current state of world model and makes decision about new positions of robots. Proposed behaviour tree (BT) has high and low level behaviours and its nodes are operating using certain behaviour rules given in the paper. High level behaviours are implemented using low level behaviours. The new behaviours of soccer robots are designed using tree structure. The use of BT approach allows to model complicated situations easily that show advantages of this technique over finite state machines widely used in robot control. After defining behaviours and making decisions, path finding module determines the path of robot. In the paper the integration of a Rapidly Exploring Random Tree (RRT) with path smoothing techniques is developed to find the path of the robot in a short time. The obtained simulation and experimental results show that the constructed navigation system of soccer robots efficiently finds desirable and feasible solutions in short amount of time.

a Topical term or geographic name as entry element Near East University Article

a Topical term or geographic name as entry element Yakın Doğu Üniversitesi Makale

a Topical term or geographic name as entry element Automation

a Topical term or geographic name as entry element Behaviour trees

a Topical term or geographic name as entry element Robot navigation

a Topical term or geographic name as entry element path finding

g Relationship information Jun 23-26, 2013

t Title 9th Asıan Control Conference (Ascc)

z International Standard Book Number 9781467357692