Optimization of Soccer Robot's Basic Motion Based on Predictive Fuzzy Control

摘要

The kinematical model of soccer robot was analyzed. Considering timelag, nonlinear and other characters of system which can not be overcome by traditional PID algorithm, we applied predictive fuzzy control to optimizing robot's basic motion.The design of predictive fuzzy control system and the simulation of system is presented.The experiment shows that the performance of the robot can be improved.