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Modified parallel navigation for ball interception by a wheeled mobile robot goalkeeper
2006
Advanced Robotics
This paper deals with the design of a control strategy for a wheeled mobile robot goalkeeper whose task is to intercept the ball before it goes inside the goal. The control law is based on the parallel navigation guidance law where the goalkeeper moves on lines which are parallel to the initial line of sight that joins the robot and the ball. A relative kinematics model in polar coordinates is derived. Two approaches based on two different versions of parallel navigation are used. In the first
doi:10.1163/156855306776562260
fatcat:babzxvofc5chfahntqb7dgqqhy