Design of basketball robot based on behavior-based fuzzy control. (18th March 2020)

• Record Type: Journal Article
• Authors: Zhi, Yonghong; Jiang, Yan
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 2(2020:Mar./Apr.)
• Publication Date: 2020-03-18
• Subjects: Behavior -- fuzzy control -- robot; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420909965
• Languages: English
• ISSNs: 1729-8806

Abstract

Aiming at the strong dependence on environmental information in traditional algorithms, the path planning of basketball robots in an unknown environment, and improving the safety of autonomous navigation, this article proposes a path planning algorithm based on behavior-based module control. In this article, fuzzy control theory is applied to the behavior control structure, and these two path planning algorithms are combined to solve the path planning problem of basketball robots in an unknown environment. First, the data of each sensor of the basketball robot configuration are simply fused. Then, the obstacle distance parameters in the three directions of front, left, and right are simplified and fuzzified. Then combined with the target direction parameters, the speed, and steering of the basketball robot are controlled by fuzzy rule reasoning to realize path planning. The simulation results show that the basketball robot can overcome the uncertainty in the environment, effectively achieve good path planning, verify the feasibility of the fuzzy control algorithm, and demonstrate the validity and correctness of the path planning strategy.