摘要
考虑到足球机器人比赛中射门动作的重要性,为了使足球机器人的动作具有准确性,提出了一种基于FLCN(Fuzzy Limit-Cycle Navigation,即模糊极限环导航)方法的动作控制。通过对极限环形状的改进,使其具有椭圆特性;并针对该情况设计了相应的模糊规则,应用模糊算法确定椭圆中心点的位置来导航机器人,完成截球和射门的动作。在仿真试验与集控式足球机器人实战中进行了验证,结果证明了该方法的有效性。
In order to make the soccer robot＇s action precise and consider the importance of shooting action in the soccer robot match, a method of action control based on fuzzy limit-cycle navigation （FLCN）is proposed. Limit-cycle is added the elliptical character, and its shape can be improved. For this instance, related fuzzy rules are designed, and the position of limit-cycle center can be changed by using fuzzy algorithm to implement the blocking and shooting action of the soccer robot. Simulations and experiments in the actual centralized soccer robot competition show the effectiveness of the proposed method.
出处
《控制工程》
CSCD
2006年第6期588-590,608,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(60475036)
