Research Of Soccer Robot Human Simulated Intelligence Motion Control Based On Sensory-Motor Intelligence Schema

The robot soccer is a new interdisciplinary research area, referring to diverse fields like robotics, intelligent control, artificial life, etc. The robot soccer system is a cooperation multi-robot autonomy system. It is a standard experimentation platform for theory research and model testing.Based on SMIS-HSIC (Human Simulated Intelligence Control based on Sensory-Motor Intelligence Schema) theory, the motion control of two wheels robot is researched, using two kinds of robot soccer systems (RoboCup Middle Size Robot Soccer System and FIRA Mirosot System). For designing and realizing the motion contrl system of soccer robot, the main achievements of research work are done:①Applying SMIS-HSIC theory, the summary design of hierarchical soccer robot motion control system is completed and is realized in order to get schema of perception-association-motion.②Based on idea of perception schema, the soccer-robot sensor-models to determine the nature and to fix quantify are advanced in order to describe the panorama vision system, the ahead monocular vision system and the milemeter system. Especially, a new model to transform coordinate is advanced and a new method to confirm the model parameters is gotten based on evolutional calculation for the ahead monocular vision system. The precision models of perception system are gotten by these works.③Adoptting the mechanism-modeling method and the thought of Quasi Equivalent Predigestion based on HSIC (Human Simulated Intelligence Control) modeling, a new non-linear state space model of soccer robot motion performing system is advanced. Using the model, a simulation system is founded in order to design the basic motion controller of robot.④According to the restriction of kinematics and the restriction of geometry, the method to get mobile robot basic motion is adanced. A set of basic motion schemas is designed in order to control the two wheels mobile robot with nonholonomic restriction. Especially, The SMIS-HSIC control arithmetic based on Multi-Proportion and The SMIS-HSIC control arithmetic based on wheel speed increment are carried out for Point Stabilization.⑤Basic modes of association is researched, some association structures are advanced. These soccer-robot association schemas including perception-motion association and perception-group-motion-group association are designed. According to choice and space-time-layout of basic motion control, the design solves the question of robot decision-making.⑥The Multi-Robots Coordination Mechanism is advanced, Multi-Robots Coordination is regarded as higher association. Robot's intention is put into decision-making system of single soccer robot as basic coordination information in order to carry out the Multi-Robots Coordination Control.The control problem of soccer robot system is the control problem of one complex system with multi-sensor, multi-controll-variable and nonlinear characteristic on the strong interference, cooperation and antagonizing condition. Based on SMSI-HSIC theory, motion control system is designed and realized for fact system. The validity of motion control is proved by the actual robot control in this paper.