足球机器人毕业论文.doc

题目:足球机器人路径规划的研究与实现
专业:自动化
摘要
足球机器人系统是一个典型的多智能体系统,是一个实时动态的对抗性的复杂环境,它为人工智能技术的理论研究和模型测试提供了一个标准的实验平台。路径规划是智能机器人的一个重要研究课题,在这样一个具有高度实时性和竞争性的平台上研究路径规划是一个极具挑战性的课题。目前用于路径规划的方法很多,如人工势场法、中垂线法、栅格法、贝塞尔曲线法、可视图法及各种人工智能方法如遗传算法,神经网络等等。但这些方法在高度动态性和实时性环境中的研究还都存在些问题,有待进一步完善。
本课题从静态环境中研究足球机器人的路径规划问题,全文主要包括如下内容:
第一章介绍了足球机器人的研究背景并在此基础上简单的介绍了足球机器人路径规划。
第二章具体分析了足球机器人系统、路径规划策略以及足球机器人环境模型等问题。
第三章分析了现今采用的路径规划典型算法:人工势场法、栅格法、中垂线法和遗传算法。
第四章在对各种算法进行综合分析的基础上,将遗传算法基于前人的基础上加入种群间的迁移并应用在本文的路径规划中。用matlab对遗传算法和人工势场法进行编程和仿真。
最后,我们对全文内容进行总结。
关键词:路径规划;足球机器人;遗传算法;人工势场;中垂线法
Abstract
er robot system is a typical multi-agent system and real-time petitive environment, which provides a standard of experimental platform for the theoretical research of artificial intelligence technology and model test. Path planning is one of the most important research subjects in intelligent robot, and the research of path planning is a challenging task on the platform with highly real-time petitive. Recently many methods are used in path-planning, such as artificial potential field, the perpendicular bisector method, the grid, Bessel method and view method and various artificial intelligence method such as ic algorithms, works, etc. But these methods have some problems in the height and the research dynamic real-time environment, they should be further improved.
This subject mainly research er robot path planning problem from the static environment. The text mainly includes the following contents:
The first chapter introduces the research background of the er robot, and on the basis of it brief introduction the er robot path planning.
The second chapter analysis the problem such as the er robot system, the path planning strategy and the environmental model of er robot in detailed.
The third chapter analysis the typical path planning algorithm used currently such as the artificial potential field method, grid method, the perpendicular bisector method and ic algorithms.
The fourth chapter, based on the analysi