Soccer Robot Path Planning And Defense Strategy Research And Software Implementation

The research on the path planning and defense strategy for the robot motion is a most critical and basic topic in the soccer robot technology, and is also an important problem with a solution that how soccer robot walks, attacks, and defenses actively in the complex environment. It is a comprehensive research issue.This paper focuses on the research of path planning and defense strategy for the soccer robot motion control, and the correctness and validity of the theory and method proposed in the paper are verified by use of simulation. The main research results are completed as follows:The ant colony algorithm (ACA) path planning method for the soccer robot based on the dividing regional optimization node is put forward in order to solve the shortcomings such as the low execution efficiency at the beginning of ACA, the large workload of calculation during the process of seeking solution, the disorder path and easy to fall into the local optimal solution, etc. The optimized city nodes are dynamically established to reduce the quantity of ant colony and the iteration number of algorithm, and to improve the execution efficiency of algorithm. Then, this method is successfully applied in the path planning of soccer robot motion. The simulation result shows that the method is effective and feasible.Based on the analysis of soccer robot control system, from the view of defense strategy planning, the sub-regional intercept method is studied. The optimal defense intercept method under certain conditions is proposed by use of established nonlinear planning mathematics model, analysis for the two basic defense interception methods such as interception-interception and interception-assessment-interception based on operation theory, the leakage interception rate and consumption that intercept robot of defense strategy in the light of the soccer ball as indexes, comparison of advantages and disadvantages of the two basic defense interception methods.The improved interception algorithm based on forecasting-planning-implementation is proposed. A quick and easy test method to determine the rough interception location is used first. Then, the control speed and precise interception location of robot soccer are determined to control the robot move to the interception location. Finally, the simulation results show that the proposed algorithms are accurate and effective to intercept the moving goals. The proposed algorithms are applied in robot soccer competition.