Study On Robot Path Planning By Using Sensory-motor Intelligence Schema Based Human-simulated Intelligent Control Theory

Path planning for Soccer Robot is an essential part of study on Robot Soccer System. Moving to target and avoiding barrier in complexity and structural un-predictable environment is a fundamental and critical function of Autonomic intelligent Robot, that is a foundation of further application, and it also determines the effectively of Strategy designing.With continuous developing at last 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.Human body control system is self-learning, self-organizing and self-adapting system, which is extreme complex and highly developed, and its outstanding effect on motion control is an enlighten for control theory. The excellence of human control system is based on the combination of human Sensory-Motor Intelligent Schemas(SMIS). Its self-learning and self-adapting is also great contributor. It is a developing direction to simulate motor intelligence of body control system, and then actualize intelligence in artificial intelligent agent.Under the above background and base on analyzing SMIC-HSIC, we try to construct the path planning method on Soccer Robots.By introducing sense schema into motion control system, it has intelligence in control. It has the capability to use different controller according to different model, achieve real-time, high-speed and high precision control requirement. Discuss sense schema, motion schema and associated Schema in static target navigating, dynamic target tracking and dynamic barrier avoiding, then simulate to approve its effectively. Algorithm perform well at RoboCup competition.