仿人足球机器人射门过程中路径规划算法研究  

A Study about Humanoid Soccer Robot’s Path Planning Algorithm in Shooting Based on Fuzzy Algorithms

作　　者：赵兵[1] 蒋龙威[1] 郑雪林[1] 胡祥梁[1] 丛杨[2] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110819 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016

出　　处：《机器人技术与应用》2012年第6期45-48,共4页Robot Technique and Application

基　　金：机器人学国家重点实验室开放课题"多机器人协作与信息共享的关键技术研究"资助

摘　　要：为了解决仿人足球机器人射门最优路径规划问题,本文提出一种基于模糊算法的移动机器人路径规划策略,使机器人能够高效率踢球射门。利用机器人摄像头感知周围的环境信息,再利用超声波传感器得到与目标物相关的距离信息,运用模糊推理将目标位置信息模糊化,建立模糊规则并求解,最终使机器人可以确定射门的路径,进而采用正向射门或侧向射门动作。To solve the optimal path planning problem of humanoid robots soccer, a novel mobile robot path planning strategy based on fuzzy algorithm has been proposed. The environment situation about the gate and goal has been detected using ultrasonic and camera sensors to obtain. Fuzzy the position information about gate and goal through fuzzy reasoning and establish the fuzzy rules. Defuzzification could make the mobile robot find the optimal path. It makes the humanoid robot compute the shot path and improve the success rate of shooting.

关 键 词：仿人机器人 模糊控制 路径规划 射门算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]