Path-Planning Research Of MiroSot Soccer-robot

In the process of development of science and technology and human being's exploration to the nature world, man always hope to simulate human being's brain function by computer.It is a new tide for Aritifical Intelligent as a research subject. Robot soccer game is an integrated platform including technology of artificial intelligent, knowledge processing, computer-vision, signal fusion, automation and communication network etc. It provides an experiment platform to test and compare with kinds of achievements. The research work will be great benefit to development of parallel academic subjects and integrated subjects. The technology related to soccer-robot is widely and bright applicable future. Application related in the field of industry or commerce fields is founded on these theory and technology.Nowadays, there are many kinds of robot soccer games, and this major content of this paper is to research on MiroSot decision-making subsystem and its motion planning. Decision-making subsystems equivalent to robot's brain is a unique provider of motion orders. It is key role to have a victory or loss in the game whether the subsystem can complete quickly and accurately its work. In the four subsystems, strategies and algorithms used in the decision-making subsystem determine performances of soccer-robot.The research contents as follows:(1) Introduce the structure of MiroSot robot soccer system and the principle of four subsystems emphasising on control, structure and reasoning modes of decision-making subsystem.(2) Introduce concept and common using methods of path-planning. Describe the problem of soccer-robot's path-planning. Introduce the principle of ACO, and put up the path-planning algorithm based on ACO.(3) Discuss constrains of kinematics and dynamics of soccer-robot and analyze effect of acceleration and velocity on motion planning of robot. Introduce main characteristic of Bezier curve and put up method of trajectory smoothing based on 3-orders Bezier curve.(4) Discuss dynamic obstacle avoidance in uncertain environment and statement fuzzy logic theory. Bring up algorithms of dynamic obstacle avoidance based fuzzy.According to technology and theories above-mentioned, It builds up integrated, effective algorithms of path-planning and dynamic obstacle avoidance. Simulation experiments in Matlab6.5 verify valid and affective.