摘要
为了提高足球机器人的射门成功率,给出了一种基于遗传模糊算法的足球机器人射门实现方法.通过建立一个多输入多输出模糊控制器,用一套模糊控制规则控制足球机器人在实时、动态环境中完成射门动作,并采用遗传算法优化模糊规则和隶属度函数,增强了模糊控制系统适应动态变化环境的能力.实验结果证明了方法的正确性.
In order to improve the success rate of soccer robot shooting a goal, a new method of shooting action control based on genetic-fuzzy algorithm is presented. A MIMO fuzzy logical controller is established and the soccer robot is controlled by a set of fuzzy rules to complete shooting action in real-time, dynamic environment. To establish an optimum fuzzy logical controller, genetic algorithm is used to optimize fuzzy rules and membership functions so as to increase the ability of the fuzzy logical controller to respond to the change of dynamic environment rapidly. Experimental results show that the method is correct and feasible.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第7期966-968,共3页
Journal of Harbin Institute of Technology
关键词
遗传算法
模糊控制
足球机器人
射门动作
Fuzzy control
Fuzzy sets
Genetic algorithms
Membership functions
Motion planning
