基于零空间方法的足球机器人控制

J4 ›› 2011, Vol. 33 ›› Issue (9): 145-150.

基于零空间方法的足球机器人控制

邬林波，王祥科，张〓辉，郑志强

(国防科学技术大学机电工程与自动化学院，湖南长沙 410073)

收稿日期:2009-10-21 修回日期:2010-03-02 出版日期:2011-09-25 发布日期:2011-09-25
作者简介:邬林波(1981),男,湖北公安人，硕士，研究方向为机器人控制。

A NullSpaceBased Control Method for Soccer Robots

WU Linbo,WANG Xiangke,ZHANG Hui,ZHENG Zhiqiang

(School of Mechatronics Engineering and Automation,National University of Defense Technology,Changsha 410073,China)

Received:2009-10-21 Revised:2010-03-02 Online:2011-09-25 Published:2011-09-25

摘要/Abstract

摘要：

基于零空间方法是一种基于行为的模糊逻辑法,本文主要研究了基于零空间方法（NullSpaceBased）的足球机器人控制问题。针对RoboCup中型组中的全向运动机器人，以完成避障前进任务为例，推导了三维空间中基于零空间方法的任务输出函数。仿真实验证明了该方法的有效性，与其它基于行为的方法相比，该方法能在保证高优先级任务顺利完成的前提下，充分地利用高优先级任务的零空间完成低优先级任务，有效地避免了任务间的冲突，更充分地发挥全向移动平台的优势。

关键词: 基于零空间方法, 基于行为方法, 足球机器人

Abstract:

The NullSpaceBased method is a behaviorbased fuzzy logic method. This paper studies the control problem of soccer robots based on the NullSpaceBased method. Taking obstacleavoiding and forwardmoving as an example, we deduce the task output function for the omnidirectional motion robot of RoboCup Middle Size League by utilizing the NullSpaceBased method in a 3D space. Finaly the simulation validates our deduction. Compared with other traditional methods, this method can ensure thoroughly the accomplishment of highpriority tasks, make the best use of nullspace to perform lowpriority tasks and effectively avoid the conflicts between the tasks, which leads to taking full advantages of the omnidirection motion platform.

Key words: nullspacebased;behaviorbased;soccer robot

邬林波，王祥科，张〓辉，郑志强. 基于零空间方法的足球机器人控制[J]. J4, 2011, 33(9): 145-150.

WU Linbo,WANG Xiangke,ZHANG Hui,ZHENG Zhiqiang. A NullSpaceBased Control Method for Soccer Robots[J]. J4, 2011, 33(9): 145-150.