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.
Highlights
The three problems to be solved by the autonomous navigation of basketball robots are the identification and tracking of positioning and destination, as well as path planning and motion control.[1,2] Path planning is the key ability of basketball robots to navigate autonomously in an unknown environment, and it is a problem that must be solved to realize intelligent basketball robots
According to unknown information and known information on environmental information, path planning is divided into local path planning and global path planning.[3,4]
The first study is about the typical U-shaped obstacle environment, which has been extensively studied in robot path planning due to deadlock problems
Summary
The three problems to be solved by the autonomous navigation of basketball robots are the identification and tracking of positioning and destination, as well as path planning and motion control.[1,2] Path planning is the key ability of basketball robots to navigate autonomously in an unknown environment, and it is a problem that must be solved to realize intelligent basketball robots. The main problem with this algorithm is that the trajectory of the basketball robot is always known, but this is difficult to achieve in the real world In this regard, Pan et al.[7] introduced the velocity parameter of the obstacle into the construction of the repulsion potential function, proposed the path planning strategy in the dynamic environment, and gave the simulation results. The algorithm avoids the shortcomings of traditional algorithms and has strong dependence on environmental information It shows great advantages and strong real-time performance for dealing with robot path planning problems in complex environments. The fuzzy control theory is applied to solve the path planning problem of a basketball robot in an unknown environment.
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