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工程设计学报
Chinese Journal of Engineering Design  2003, Vol. 10 Issue (3): 140-143    DOI:
    
Optim ization of robot soccer’s basic motion based on fuzzy control
 JIANG  Xian-Hua1, XIONG  Rong2, ZHOU  Ke2, WU  Ming-Guang1
1．Institute of System Engineering，Zhejiang University，Hangzhou 310027，China；
2．National Key Lab of Industrial Control Technology，Zhejiang University，Hangzhou 310027，China
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Abstract  Robot soccer integrates multi advanced technologyes，such as image processing，communication，automation control and optimization decision，and so on．This paper analyses the kinematical model of robot soccer．Considering time-lag，nonlinear and other characters of the system which can not be overcome by traditional PID algorithm ，the authors applied fuzzy control to optimizing robot’S basic motion．By presenting the design of fuzzy control system and the simulation of system by Matlab，the authors find that the precision of robot can be improved by using fuzzy contro1．

Key words： robot soccer      fuzzy control      basic motion      optimizing strategy     
Published: 28 June 2003
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JIANG Xian-Hua
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Cite this article:

JIANG Xian-Hua, XIONG Rong, ZHOU Ke, WU Ming-Guang. Optim ization of robot soccer’s basic motion based on fuzzy control. Chinese Journal of Engineering Design, 2003, 10(3): 140-143.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2003/V10/I3/140


基于模糊控制的足球机器人底层动作优化

足球机器人是集成视觉技术、通讯技术、伺服控制技术、决策对象等多种技术的综合系统，是当前人工智能和机器人领域的研究热点之一． 根据足球机器人的运动学模型，考虑到系统的时滞性、非线性等特点，提出模糊控制并优化机器人底层动作的方法． 详细介绍了足球机器人模糊控制系统的设计过程，并通过仿真验证了该方法的可行性．

关键词： 足球机器人,  模糊控制,  底层动作,  优化策略 
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