摘要
针对足球机器人比赛中动态不确定性特点,提出了一种基于LWR学习方法预测球的运动轨迹,尤其是球与外界碰撞后的运动轨迹.并且对预测进行模糊调整,即根据预测球的状态,生成机器人的动作.该方法建立数学模型简单,使得机器人的决策效果好.仿真实验表明该方法具有良好的效果.
Aiming at solving the dynamic incertitude of the robot soccer game, a learning method based on Locally Weighted Regression is proposed to forecast the motion of the ball, especially after the ball bump into wall. The error is adjusted with fuzzy, that is, the robot moves based on the forecasted condition of the ball. Its model is simple for the decision-making system of robot. Its usability is proved by the simulation.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第7期956-958,共3页
Journal of Harbin Institute of Technology
关键词
足球机器人
预测
模糊逻辑
LWR
Decision making
Fuzzy sets
Mathematical models
Motion planning
Regression analysis
Robot learning
