Study On Application Of Motor Schema Based HSIC Theory On Motion Control For Soccer Robot

Robot soccer competition is a flourishing kind of high-tech competition, its force is growing steadily all over the world lately. This competition is a amalgamation of many kinds of high-tech, for example, robot technology, sensor technology, Intelligent Control, communication and computer science, Multi-Agent Cooperation, etc. In a word ,it can reflect the compositive power of one nation in the field of communication science and automatization technology.The motion control for Soccer Robot is an essential part of the study on Robot Soccer. There are two ways to improve the motion stuff(including motion speed ,motion coordination ,art and tactics )of Soccer Robot. On the one hand, the hardware is to be improved; On the other hand, the control algorithm needs to be optimized.Having been developed for over 100 years, control theory has made a great success in describing relative simple systems. But there are more complex systems in real life, such as complex industrial production processes, computer integrated manufacturing systems, intelligent robot systems, etc. It is urgent for control theory to make a remarkable progress in the control of complex systems. At the same time, complexity science has made a success in describing, simulating complex systems and applying these achievements in discussing evolution of complex systems and their essence of function, but it is incapable of controlling these complex systems. Therefore control theory and complexity science tend to the research of the same problem, that is, control of complex systems.Under the above background and based on analyzing Sensory-Motor Intelligent Schemas based HSIC (SMIS-HSIC), we try to construct the control framework for the soccer robot's motion control.The main works of this dissertation are shown as follows:we summarize the study actuality and the system structure of robot soccer competition.we analyze the relevant contents of the motion control for soccer robot.we introduce the basic knowledge of SMIS-HSIC theory.we discuss the control structure for the soccer robot's motion control and design the relevant controllers. we validate the validity of the controllers mentioned above by simulation and practicality experiments.