LWR学习在足球机器人中的应用

Application of LWR learning in robot-soccer

针对足球机器人比赛中动态不确定性特点,提出了一种基于LWR学习方法预测球的运动轨迹,尤其是球与外界碰撞后的运动轨迹.并且对预测进行模糊调整,即根据预测球的状态,生成机器人的动作.该方法建立数学模型简单,使得机器人的决策效果好.仿真实验表明该方法具有良好的效果.

Aiming at solving the dynamic incertitude of the robot soccer game, a learning method based on Locally Weighted Regression is proposed to forecast the motion of the ball, especially after the ball bump into wall. The error is adjusted with fuzzy, that is, the robot moves based on the forecasted condition of the ball. Its model is simple for the decision-making system of robot. Its usability is proved by the simulation.