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| RoboCup中型组足球机器人的改进模糊HSIC运动控制 | |
| 引用本文： | 翟天嵩,刘叔军,张南纶. RoboCup中型组足球机器人的改进模糊HSIC运动控制[J]. 信息与控制, 2011, 40(4). DOI: 10.3724/SP.J.1219.2011.00537 |
| 作者姓名： | 翟天嵩 刘叔军 张南纶 |
| 作者单位： | 1. 南阳理工学院电子与电气工程系,河南南阳,473004 2. 常熟理工学院电气与自动化工程学院,江苏常熟,215500 3. 武汉理工大学自动化学院,湖北武汉,430070 |
| 基金项目： | 河南省科技攻关计划资助项目(0624260040) |
| 摘 要： | 针对RoboCup中型组三轮全向足球机器人路径规划和轨迹跟踪的特点,结合仿人智能控制(human-simulated intelligent control,HSIC)算法,提出了改进模糊仿人智能运动控制算法,并将其运用于该系统的运动控制.实验研究证明,该算法具有控制精度高、稳定性好、能实时逼近期望路径的特点,完全满足RoboCup足球机器人运动控制的要求.另外,模糊控制的控制规则表可以由改进HSIC的逻辑控制规则所确定,使模糊控制器的设计更易于实现. |
| 关 键 词： | 全向足球机器人 相平面分区 改进模糊仿人智能控制 运动控制 |
An Improved Fuzzy-HSIC-Based Motion Control for RoboCup Middle-sized Soccer Robot |
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| ZHAI Tiansong,LIU Shujun,ZHANG Nanlun. An Improved Fuzzy-HSIC-Based Motion Control for RoboCup Middle-sized Soccer Robot[J]. Information and Control, 2011, 40(4). DOI: 10.3724/SP.J.1219.2011.00537 | |
| Authors: | ZHAI Tiansong LIU Shujun ZHANG Nanlun |
| Affiliation: | ZHAI Tiansong1,LIU Shujun2,ZHANG Nanlun3(1.Department of Electronics and Electrical Engineering,Nanyang Institute of Technology,Nanyang 473004,China,2.School of Electric and Automatic Engineering,Changshu Institute of Technology,Changshu 215500,3.School of Automation,Wuhan University of Technology,Wuhan 430070,China) |
| Abstract: | According to the characteristics of path planning and trajectory tracking in the RoboCup middle-sized three-wheel omnidirectional soccer robot,an improved fuzzy-HSIC(human-simulated intelligent control)-based algorithm is pro-posed based on the HSIC algorithm.And it is applied to motion control of this system.Experimental studies prove that it has the characteristics of high control accuracy and good stability,and it can approach the expected path in real-time and fully meet the requirements of RoboCup socc... |
| Keywords: | omni-directional soccer robot phase plane division improved fuzzy HSIC(human-simulated intelligent con-trol) motion control |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |