Research On Path-Planning For Micro Soccer Robot

Soccer robot is a new interdisciplinary research area, referring to diverse fields like, robotics, intelligent control, artificial life, etc. Soccer robot system is a typical multi-agent system and multi-robot cooperative autonomous system. Furthermore, it provides a standard test-bed and theoretic research model of those fields.In the robot soccer, the validity of the action and behavior absolutely depend on the accurate forecast and effectual planning of the path as well as the proper orientation of the robot when it touches the ball. The main aim of path planning is finding out a path without collision in a field full of competition. As the basic of the primary action of soccer robot, the validity of path panning directly affects the real time and accurateness of the action, so almost every researcher in this field look it as an emphases.Taking the MiroSot robot as the study object, the paper made a deep study on the path-planning through practicing theory. The study mainly lies in the following aspects:1. It made a comprehensively analysis on the present study circumstance and its development direction and then decided the study direction and content of the paper.2. Base on the features of the movement planning of soccer robot, the kinematics model and dynamics model has been founded.3. A new path-planning method based on geometry was presented through analyzing the features of other path-planning methods and expounded its arithmetic including merits and something needed to be improved.4. On the new method of path planning, a new shooting action was designed.5. The dissertation analyses the transformation of attack and defense actions in soccer robot match, goes into particulars the path planning in defense, deals with the path planning of the goal-keeper and the general defending member respectively and introduces several typical defense actions.