摘要
针对RoboCup中型组三轮全向足球机器人路径规划和轨迹跟踪的特点,结合仿人智能控制(human-simulated intelligent control,HSIC)算法,提出了改进模糊仿人智能运动控制算法,并将其运用于该系统的运动控制.实验研究证明,该算法具有控制精度高、稳定性好、能实时逼近期望路径的特点,完全满足RoboCup足球机器人运动控制的要求.另外,模糊控制的控制规则表可以由改进HSIC的逻辑控制规则所确定,使模糊控制器的设计更易于实现.
According to the characteristics of path planning and trajectory tracking in the RoboCup middle-sized three-wheel omnidirectional soccer robot,an improved fuzzy-HSIC（human-simulated intelligent control）-based algorithm is pro-posed based on the HSIC algorithm.And it is applied to motion control of this system.Experimental studies prove that it has the characteristics of high control accuracy and good stability,and it can approach the expected path in real-time and fully meet the requirements of RoboCup soccer robot motion control.In addition,because the fuzzy control rules table can be determined by the logical control rules of the improved HSIC,so it is convenient to design fuzzy controller.
出处
《信息与控制》
CSCD
北大核心
2011年第4期537-541,共5页
Information and Control
基金
河南省科技攻关计划资助项目(0624260040)
关键词
全向足球机器人
相平面分区
改进模糊仿人智能控制
运动控制
omni-directional soccer robot
phase plane division
improved fuzzy HSIC（human-simulated intelligent con-trol）
motion control
