RoboCup中型组足球机器人运动控制算法

The algorithm of motion control for RoBoCup middle size soccer robot

针对RoboCup机器人路径规划和位姿控制的特点,以二维模糊控制器为基础,分别设计了基于误差分析的论域自调整伸缩因子和基于路径的误差累积因子,提出了一种基于误差累积因子的论域自调整模糊控制算法.仿真及试验结果表明,该算法具有控制精度高、实时性强,能快速、准确地跟踪期望路径的特点.

In view of the Robot＇s path planning and pose controlling, the self-adjusting universe flex-factor based on error analysis and the cumulative error factor based on path were designed respectively. The self-adjusting universe fuzzy control algorithm based on the cumulative error factor were proposed. Simulation and experiments results indicate that the control algorithm has the characteristics of high precision, real-time, which can quickly and accurately track the desired path.