RoboCup中型组足球机器人的改进模糊HSIC运动控制  

An Improved Fuzzy-HSIC-Based Motion Control for RoboCup Middle-sized Soccer Robot

作　　者：翟天嵩[1] 刘叔军[2] 张南纶[3] 

机构地区：[1]南阳理工学院电子与电气工程系,河南南阳473004 [2]常熟理工学院电气与自动化工程学院,江苏常熟215500 [3]武汉理工大学自动化学院,湖北武汉430070

出　　处：《信息与控制》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)

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.

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 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]