Path Planning Research of Soccer Robot Based on Fuzzy Theory
Aiming at the problem of path planning of soccer robot, based on the principle that the path curve should be smooth and the total length of the path should be short, the fuzzy control method to the whole velocity and the real-time rotational angle was proposed in this paper. The membership functions of fuzzy controller were optimized by golden mean principle. Simulating use the fuzzy control method and the fuzzy control method based on golden mean. Results show that the fuzzy controller optimized by golden mean has better control effect. Robot has better real-timing when avoiding obstacles. The global path will be shorter.
fuzzy theory soccer robot path planning golden mean
DENG Jian-Qiu HAO Cui
School of Automation Tsinghua University Beijing,China Naval Aeronautical Engineering Institute Shan School of Automation Beijing Information Science & Technology University Beijing,China
国际会议
太原
英文
154-157
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）