摘要： 碰撞规避问题是移动机器人路径规划中的关键技术，它是实现两个或多个机器人的无碰撞运动。足球机器人路径规划是在未知环境下的动态碰撞规避问题。讨论利用换位原理，根据当前状态，预测障碍物的动态意图，将意图信息量进行模糊划分，通过模糊推理，从而确定足球机器人的路径取向。文中最后给出了基于换位原理和模糊推理的碰撞规避算法和仿真结果。

关键词: 碰撞规避, 足球机器人, 换位原理, 模糊推理

Abstract: The collision-eluding obstacles is the pivotal technology of robot path-planning. It implements two or more robot's movement without collision. This paper discusses the path-planning of soccer robots in no-know environment with dynamic obstacles. With artificil intelligent technical---- transposition principle, and according to the stations at time, forecasts obstruction's dynamic intention. The intention will be computed fuzzily , and then soccer robot's eluding direction will be confirmed by fuzzy inference. At the end, a collision-eluding obstacles algorithm basing on transposition principle and fuzzy inference is given.

中图分类号: 

• TP242.6